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@STRING{icra = {Proc. of the IEEE International Conference on Robotics and Automation}}

@STRING{IEEE_J_CST = {IEEE Transactions on Control Systems Technology}}

@STRING{ieee_j_smc = {IEEE Transactions on Systems, Man, and Cybernetics}}

@STRING{ijrr = {International Journal of Robotics Research}}

@STRING{iros = {Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems}}

@STRING{jra = {IEEE Journal of Robotics and Automation }}

@STRING{TRA = {IEEE Transactions on Robotics and Automation}}

@ARTICLE{odunlaing_87,
  author = {Colm \'{O}-D\'{u}nlaing},
  title = {Motion planning with inertial constraints},
  journal = {Algorithmica},
  year = {1987},
  volume = {2},
  pages = {431-475},
  owner = {mihail},
  timestamp = {2012.01.18}
}

@INPROCEEDINGS{Abate1997,
  author = {Abate, J. A. and Simpson, J. R. and Brownlow, D. L. and Digiovanni,
	D. J. and Kannan, S. and Luvalle, M. J. and Lemaire, P. J. and Stentz,
	A. J. },
  title = {Reliability concerns for double clad fiber lasers for space based
	laser communications},
  booktitle = {Proc. MILCOM 97},
  year = {1997},
  volume = {2},
  pages = {936--942},
  month = nov # { 2--5,},
  doi = {10.1109/MILCOM.1997.646755},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Abbeel2008,
  author = {Abbeel, P. and Dolgov, D. and Ng, A. Y. and Thrun, S. },
  title = {Apprenticeship learning for motion planning with application to parking
	lot navigation},
  booktitle = {Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems IROS 2008},
  year = {2008},
  pages = {1083--1090},
  abstract = {Motion and path-planning algorithms often use complex cost functions
	for both global navigation and local smoothing of trajectories. Obtaining
	good results typically requires carefully hand-engineering the trade-offs
	between different terms in the cost function. In practice, it is
	often much easier to demonstrate a few good trajectories. In this
	paper, we describe an efficient algorithm which - when given access
	to a few trajectory demonstrations - can automatically infer good
	trade-offs between the different costs. In our experiments, we apply
	our algorithm to the problem of navigating a robotic car in a parking
	lot.},
  doi = {10.1109/IROS.2008.4651222},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@ARTICLE{Abidi2008,
  author = {Abidi, Besma R. and Aragam, Nash R. and Yao, Yi and Abidi, Mongi
	A.},
  title = {Survey and analysis of multimodal sensor planning and integration
	for wide area surveillance},
  journal = {ACM Comput. Surv.},
  year = {2008},
  volume = {41},
  pages = {1--36},
  number = {1},
  abstract = {Although sensor planning in computer vision has been a subject of
	research for over two decades, a vast majority of the research seems
	to concentrate on two particular applications in a rather limited
	context of laboratory and industrial workbenches, namely 3D object
	reconstruction and robotic arm manipulation. Recently, increasing
	interest is engaged in research to come up with solutions that provide
	wide-area autonomous surveillance systems for object characterization
	and situation awareness, which involves portable, wireless, and/or
	Internet connected radar, digital video, and/or infrared sensors.
	The prominent research problems associated with multisensor integration
	for wide-area surveillance are modality selection, sensor planning,
	data fusion, and data exchange (communication) among multiple sensors.
	Thus, the requirements and constraints to be addressed include far-field
	view, wide coverage, high resolution, cooperative sensors, adaptive
	sensing modalities, dynamic objects, and uncontrolled environments.
	This article summarizes a new survey and analysis conducted in light
	of these challenging requirements and constraints. It involves techniques
	and strategies from work done in the areas of sensor fusion, sensor
	networks, smart sensing, Geographic Information Systems (GIS), photogrammetry,
	and other intelligent systems where finding optimal solutions to
	the placement and deployment of multimodal sensors covering a wide
	area is important. While techniques covered in this survey are applicable
	to many wide-area environments such as traffic monitoring, airport
	terminal surveillance, parking lot surveillance, etc., our examples
	will be drawn mainly from such applications as harbor security and
	long-range face recognition.},
  address = {New York, NY, USA},
  doi = {http://doi.acm.org/10.1145/1456650.1456657},
  issn = {0360-0300},
  owner = {Mihail},
  publisher = {ACM},
  timestamp = {2010.03.03}
}

@ARTICLE{agarwal_99,
  author = {Agarwal and Aronov and Sharir},
  title = {Motion Planning for a Convex Polygon in a Polygonal Environment},
  journal = {GEOMETRY: Discrete and Computational Geometry},
  year = {1999},
  volume = {22},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{agarwal_96,
  author = {P. Agarwal and N. Amenta and B. Aronov and M. Sharir},
  title = {Largest placements and motion planning of a convex polygon},
  booktitle = {Proc. 2nd Annu. Workshop Algorithmic Foundations of Robotics},
  year = {1996},
  address = {Toulouse, France},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Agarwal2002,
  author = {Agarwal, Pankaj K. and Guibas, Leonidas J. and Edelsbrunner, Herbert
	and Erickson, Jeff and Isard, Michael and Har-Peled, Sariel and Hershberger,
	John and Jensen, Christian and Kavraki, Lydia and Koehl, Patrice
	and Lin, Ming and Manocha, Dinesh and Metaxas, Dimitris and Mirtich,
	Brian and Mount, David and Muthukrishnan, S. and Pai, Dinesh and
	Sacks, Elisha and Snoeyink, Jack and Suri, Subhash and Wolefson,
	Ouri},
  title = {Algorithmic issues in modeling motion},
  journal = {ACM Comput. Surv.},
  year = {2002},
  volume = {34},
  pages = {550--572},
  number = {4},
  abstract = {This article is a survey of research areas in which motion plays a
	pivotal role. The aim of the article is to review current approaches
	to modeling motion together with related data structures and algorithms,
	and to summarize the challenges that lie ahead in producing a more
	unified theory of motion representation that would be useful across
	several disciplines.},
  address = {New York, NY, USA},
  doi = {http://doi.acm.org/10.1145/592642.592647},
  issn = {0360-0300},
  owner = {Mihail},
  publisher = {ACM},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{Aggarwal1997,
  author = {Aggarwal, Alok and Coppersmith, Don and Khanna, Sanjeev and Motwani,
	Rajeev and Schieber, Baruch},
  title = {The angular-metric traveling salesman problem},
  booktitle = {SODA '97: Proceedings of the eighth annual ACM-SIAM symposium on
	Discrete algorithms},
  year = {1997},
  pages = {221--229},
  address = {Philadelphia, PA, USA},
  publisher = {Society for Industrial and Applied Mathematics},
  isbn = {0-89871-390-0},
  location = {New Orleans, Louisiana, United States},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Ahn2000,
  author = {Ahn, Hee-Kap and Cheong, Otfried and Matou\v{s}ek, Ji\v{r}\'{\i}
	and Vigneron, Antoine},
  title = {Reachability by paths of bounded curvature in convex polygons},
  booktitle = {SCG '00: Proceedings of the sixteenth annual symposium on Computational
	geometry},
  year = {2000},
  pages = {251--259},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/336154.336211},
  isbn = {1-58113-224-7},
  location = {Clear Water Bay, Kowloon, Hong Kong},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@ARTICLE{Akbarimajd2007,
  author = {Akbarimajd, Adel and Ahmadabadi, Majid Nili and Beigzadeh, Borhan},
  title = {Dynamic object manipulation by an array of 1-DOF manipulators: Kinematic
	modeling and planning},
  journal = {Robot. Auton. Syst.},
  year = {2007},
  volume = {55},
  pages = {444--459},
  number = {6},
  abstract = {Dynamic manipulation of polygonal objects by an array of one degree
	of freedom arms is studied from kinematics and planning points of
	view. In the studied manipulation method, an object is manipulated
	to its goal configuration by a sequence of juggles. A kinematic model
	of an object throwing task is driven and a method for object manipulation
	by a sequence of throws is proposed. The method, called Backward
	Throws Method (BTM), is based on throwing an object backward towards
	the arm pivot. Based on the developed model, a planning algorithm
	is proposed for BTM. In addition, the only existing similar method
	to BTM, which is based on forward throws-named FTM in this paper-is
	reformulated for implementation by a series of arms and compared
	with the proposed method. Analytical investigations, simulation results,
	and experimental outcomes show that BTM meets the desired requirements.
	Moreover, in comparison to FTM, BTM requires fewer number of throws
	and lower release velocity. In addition, the object's maximum height
	of flight is much lower in BTM which results in lower catching impact.
	According to the experimental results, although the proposed method
	has no feedback from object position, accumulated position error
	is very small. This fact is directly related to the attained decrease
	in catching impact which causes small object slippage and rebound
	on catching. Furthermore, there is no restriction on the arm geometry
	in BTM while in FTM an arm with negative offset is needed.},
  address = {Amsterdam, The Netherlands, The Netherlands},
  doi = {http://dx.doi.org/10.1016/j.robot.2007.01.007},
  issn = {0921-8890},
  owner = {Mihail},
  publisher = {North-Holland Publishing Co.},
  timestamp = {2010.02.05}
}

@INPROCEEDINGS{,
  author = {Alami, R. and Herrb, M. and Morisset, B. and Chatila, R. and Ingrand,
	F. and Moutarlier, P. and Fleury, S. and Khatib, M. and Simeon, T.
	},
  title = {Around the lab in 40 days [indoor robot navigation]},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA '00},
  year = {2000},
  volume = {1},
  pages = {88--94},
  abstract = {The authors previously (1998) argued that the LAAS architecture is
	one of the most suitable for mobile robot control. This statement
	may seem over-optimistic, not to say pretentious and unverifiable.
	After all, can we compare architectures? can we set up benchmarks?
	or can we measure how good an architecture is compared to another?
	An architecture defines organization principles, integration methods
	and supporting tools. Comparing those tools, methods and principles
	may sometime end up in sterile controversies. However, we think there
	are means to measure the overall quality (or interest) of an architecture.
	Development time is for example one relevant criterion. Basically,
	using a specific architecture, how long does it take to integrate
	a complete demonstration, including nontrivial decisional capabilities,
	from the low level functional modules up to the supervisory level?
	This may seem a rather weak measure of architecture quality; however,
	it encompasses properties such as genericity and adaptability, ease
	of design and programming, extensibility and robustness. In this
	paper we describe our recent experience in integrating a complete
	demonstration from scratch in 40 days using the LAAS architecture},
  doi = {10.1109/ROBOT.2000.844044},
  owner = {mihail},
  timestamp = {2012.01.18}
}

@ARTICLE{Aloimonos87,
  author = {Aloimonos, J.Y. and Weiss, I. and Bandopadhay, Dana A.},
  title = {Active Vision},
  journal = {International Journal on Computer Vision},
  year = {1987},
  pages = {333-356},
  month = {February},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{alt_etal_90,
  author = {Alt, H. and Fleischer, R. and Kaufmann, M. and Mehlhorn, K. and Naher,
	S. and Schirra, S. and Uhrig, C.},
  title = {Approximate motion planning and the complexity of the boundary of
	the union of simple geometric figures},
  booktitle = {Proc. of the ACM Symposium on Computational Geometry},
  year = {1990},
  pages = {281--289},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{,
  author = {Alterovitz, R. and Goldberg, K. and Kurhanewicz, J. and Pouliot,
	J. and I-Chow Hsu},
  title = {Image registration for prostate MR spectroscopy using modeling and
	optimization of force and stiffness parameters},
  booktitle = {Proc. 26th Annual Int. Conf. of the IEEE Engineering in Medicine
	and Biology Society IEMBS '04},
  year = {2004},
  volume = {1},
  pages = {1722--1725},
  abstract = {We develop an image registration system based on biomechanical modeling
	of the prostate and surrounding tissues to register cancerous tumor
	locations for targeted prostate brachytherapy treatment planning.
	Cancerous tumors can be identified using magnetic resonance spectroscopy
	(MRS) imaging, which is acquired with an endorectal probe that causes
	significant nonlinear deformation of the prostate. The probe is removed
	during magnetic resonance (MR) imaging for brachytherapy planning
	and therapy. Given 2-dimensional segmented MR and MRS images, our
	finite element based model defines a mapping between the probe-in/out
	images by estimating the deformation of the prostate and surrounding
	tissues due to endorectal probe insertion and balloon inflation.
	Treating uncertain patient-specific model parameters for tissue stiffness
	and external forces as variables, we compute a locally optimal solution
	to maximize image registration quality. We visualize results by applying
	the computed mapping to the MR image to generate a deformed MR image.
	We compare deformed MR images to corresponding MRS images for 5 patients
	and obtain an average dice similarity coefficient (DSC) of 95.6%
	for the prostate. Using the mapping, we warp a regular spectroscopy
	grid from the MRS image to the probe-out MR image for use during
	treatment planning.},
  doi = {10.1109/IEMBS.2004.1403517},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Alterovitz, R. and Goldberg, K. and Okamura, A. },
  title = {Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft
	Tissue with Obstacles},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA 2005},
  year = {2005},
  pages = {1640--1645},
  abstract = {We explore motion planning for a new class of highly flexible bevel-tip
	medical needles that can be steered to previously unreachable targets
	in soft tissue. Planning for these procedures is difficult because
	the needles bend during insertion and cause the surrounding soft
	tissues to displace and deform. In this paper, we develop a planning
	algorithm for insertion of highly flexible bevel-tip needles into
	soft tissues with obstacles in a 2D imaging plane. Given an initial
	needle insertion plan specifying location, orientation, bevel rotation,
	and insertion distance, the planner combines soft tissue modeling
	and numerical optimization to generate a needle insertion plan that
	compensates for simulated tissue de formations, locally avoids polygonal
	obstacles, and minimizes needle insertion distance. The simulator
	computes soft tissue deformations using a finite element model that
	incorporates the effects of needle tip and frictional forces using
	a 2D mesh. We formulate the planning problem as a constrained nonlinear
	optimization problem that is locally minimized using a penalty method
	that converts the formulation to a sequence of unconstrained optimization
	problems. We apply the planner to bevel-right and bevel-left needles
	and generate plans for targets that are unreachable by rigid needles.},
  doi = {10.1109/ROBOT.2005.1570348},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{alterovitz_etal_iros03,
  author = {Alterovitz, R. and Goldberg, K. and Pouliot, J. and Taschereau, R.
	and I-Chow Hsu},
  title = {Sensorless planning for medical needle insertion procedures},
  booktitle = {Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems},
  year = {2003},
  volume = {4},
  pages = {3337--3343},
  abstract = {Medical procedures such as seed implantation, biopsies, and treatment
	injections require inserting a needle tip to a specific target location
	inside the human body. This is difficult because (1) needle insertion
	causes soft tissues to displace and deform, and (2) it is often difficult
	or impossible to obtain precise imaging data during insertion. We
	are developing a sensorless planning system for needle insertion
	that incorporates numerical optimization with a soft tissue simulation
	based on a dynamic FEM formulation that models the effects of needle
	tip and frictional forces using a 2D mesh. In this paper we describe
	a sensorless planning algorithm for radioactive seed implantation
	that computes needle insertion offsets that compensate for tissue
	deformations. We apply the method to seed implantation during permanent
	seed prostate brachytherapy to minimize seed placement error in simulation
	without relying on real-time imaging.},
  doi = {10.1109/IROS.2003.1249671},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Alterovitz, R. and Goldberg, K. and Pouliot, J. and Taschereau, R.
	and I-Chow Hsu},
  title = {Needle insertion and radioactive seed implantation in human tissues:
	simulation and sensitivity analysis},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA '03},
  year = {2003},
  volume = {2},
  pages = {1793--1799},
  abstract = {To facilitate training and planning for medical procedures such as
	prostate brachytherapy, we are developing an interactive simulation
	of needle insertion and radioactive seed implantation in soft tissues.
	We describe a new 2D dynamic FEM model based on a reduced set of
	scalar parameters such as needle friction, sharpness, and velocity,
	where the mesh is updated to maintain element boundaries along the
	needle shaft and the effects of needle tip and frictional forces
	are simulated. The computational complexity of our model grows linearly
	with the number of elements in the mesh and achieves 24 frames per
	second for 1250 triangular elements on a 750 MHz PC. We use the simulator
	to characterize the sensitivity of seed placement error to physician-controlled
	and biological parameters. Results indicate that seed placement error
	is highly sensitive to physician-controlled parameters such as needle
	position, sharpness, and friction, and less sensitive to patient-specific
	parameters such as tissue stiffness and compressibility.},
  doi = {10.1109/ROBOT.2003.1241854},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@ARTICLE{,
  author = {Alterovitz, R. and Goldberg, K. Y. and Pouliot, J. and Hsu, I.-C.
	},
  title = {Sensorless Motion Planning for Medical Needle Insertion in Deformable
	Tissues},
  journal = IEEE_J_ITBM,
  year = {2009},
  volume = {13},
  pages = {217--225},
  number = {2},
  abstract = {Minimally invasive medical procedures such as biopsies, anesthesia
	drug injections, and brachytherapy cancer treatments require inserting
	a needle to a specific target inside soft tissues. This is difficult
	because needle insertion displaces and deforms the surrounding soft
	tissues causing the target to move during the procedure. To facilitate
	physician training and preoperative planning for these procedures,
	we develop a needle insertion motion planning system based on an
	interactive simulation of needle insertion in deformable tissues
	and numerical optimization to reduce placement error. We describe
	a 2-D physically based, dynamic simulation of needle insertion that
	uses a finite-element model of deformable soft tissues and models
	needle cutting and frictional forces along the needle shaft. The
	simulation offers guarantees on simulation stability for mesh modifications
	and achieves interactive, real-time performance on a standard PC.
	Using texture mapping, the simulation provides visualization comparable
	to ultrasound images that the physician would see during the procedure.
	We use the simulation as a component of a sensorless planning algorithm
	that uses numerical optimization to compute needle insertion offsets
	that compensate for tissue deformations. We apply the method to radioactive
	seed implantation during permanent seed prostate brachytherapy to
	minimize seed placement error.},
  doi = {10.1109/TITB.2008.2008393},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Alterovitz, R. and Lim, A. and Goldberg, K. and Chirikjian, G. S.
	and Okamura, A. M. },
  title = {Steering flexible needles under Markov motion uncertainty},
  booktitle = {Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2005)},
  year = {2005},
  pages = {1570--1575},
  abstract = {When inserted into soft tissues, flexible needles with bevel tips
	have been shown experimentally to follow a path of constant curvature
	in the direction of the bevel. By controlling 2 degrees of freedom
	at the needle base (bevel direction and insertion distance), these
	needles can be steered around obstacles to reach targets inaccessible
	to rigid needles. Motion planning for needle steering is a type of
	nonholonomic planning for a Dubins car with no reversal. We develop
	a motion planning algorithm based on dynamic programming where the
	path of the needle is uncertain due to uncertainty in tissue properties,
	needle mechanics, and interaction forces. The algorithm computes
	a discrete control sequence of insertions and direction changes so
	the needle reaches a target in an imaging plane while minimizing
	expected cost due to insertion distance, direction changes, and obstacle
	collisions. We efficiently sample the state space of needle tip positions
	and orientations and define bounds on the errors due to discretization.
	We formulate the motion planning problem as a Markov decision process
	(MDP) and use infinite horizon dynamic programming to compute an
	optimal control sequence. We first apply the method to the deterministic
	motion case where the needle precisely follows a path of constant
	curvature and then to the uncertain motion case where state transitions
	are defined by a probability distribution. Our implementation generates
	motion plans for bevel-tip needles that reach targets inaccessible
	to rigid needles and demonstrates that accounting for uncertainty
	can lead to significantly different motion plans.},
  doi = {10.1109/IROS.2005.1544969},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@ARTICLE{Amari98,
  author = {{Shun-ichi} Amari},
  title = {Natural gradient works effciently in learning},
  journal = nc,
  year = {1998},
  volume = {10},
  pages = {251--276},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Amato2002,
  author = {Amato, Nancy M. and Dill, Ken A. and Song, Guang},
  title = {Using motion planning to map protein folding landscapes and analyze
	folding kinetics of known native structures},
  booktitle = {RECOMB '02: Proceedings of the sixth annual international conference
	on Computational biology},
  year = {2002},
  pages = {2--11},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {We present a novel approach for studying the kinetics of protein folding.
	The framework has evolved from robotics motion planning techniques
	called probabilistic roadmap methods (prms) that have been applied
	in many diverse fields with great success. In our previous work,
	we used a Prm-based technique to study protein folding pathways of
	several small proteins and obtained encouraging results. In this
	paper, we describe how our motion planning framework can be used
	to study protein folding kinetics. In particular, we present a refined
	version of our Prm-based framework and describe how it can be used
	to produce potential energy landscapes, free energy landscapes, and
	many folding pathways all from a single roadmap which is computed
	in a few hours on a desktop PC. Results are presented for 14 proteins.
	Our ability to produce large sets of unrelated folding pathways may
	potentially provide crucial insight into some aspects of folding
	kinetics, such as proteins that exhibit both two-state and three-state
	kinetics, that are not captured by other theoretical techniques.},
  doi = {http://doi.acm.org/10.1145/565196.565198},
  isbn = {1-58113-498-3},
  location = {Washington, DC, USA},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{amato_wu_icra96,
  author = {Amato, N. M. and Wu, Y. },
  title = {A randomized roadmap method for path and manipulation planning},
  booktitle = {Proc. Conf. IEEE Int Robotics and Automation},
  year = {1996},
  volume = {1},
  pages = {113--120},
  abstract = {This paper presents a new randomized roadmap method for motion planning
	for many DOF robots that can be used to obtain high quality roadmaps
	even when C-space is crowded. The main novelty in the authors' approach
	is that roadmap candidate points are chosen on C-obstacle surfaces.
	As a consequence, the roadmap is likely to contain difficult paths,
	such as those traversing long, narrow passages in C-space. The approach
	can be used for both collision-free path planning and for manipulation
	planning of contact tasks. Experimental results with a planar articulated
	6 DOF robot show that, after preprocessing, difficult path planning
	operations can often be carried out in less than a second},
  doi = {10.1109/ROBOT.1996.503582},
  owner = {mihail},
  timestamp = {2012.01.14}
}

@INPROCEEDINGS{Ambrose2004,
  author = {Ambrose, R. O. and Savely, R. T. and Goza, S. M. and Strawser, P.
	and Diftler, M. A. and Spain, I. and Radford, N. },
  title = {Mobile manipulation using NASA's Robonaut},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'04},
  year = {2004},
  volume = {2},
  pages = {2104--2109 Vol.2},
  abstract = {The Johnson Space Center has developed a new mobile manipulation system
	with the combination of a Robonaut upper body mounted onto a Segway
	mobile base. The objective is to study a fluid and coordinated control
	of dexterous limbs on a mobile robot. The system has been demonstrated
	interacting with people, tools, and urban interfaces built for humans.
	Human interactions have included manually exchanging objects with
	humans, following people, and tracking people with hand held objects
	such as flashlights. Like other configurations of the Robonaut family,
	the upper body provides dexterity for using tools such as wire cutters,
	shovels, space flight gear, and handling flexible tethers and fabrics.
	The Segway base is a custom version called the Robotic Mobility Platform
	(RMP) built for DARPA, and provided to NASA for this collaborative
	effort. The RMP's active balance gives Robonaut a relatively small
	footprint for its height, allowing it to pass through doors and elevators
	built for humans, and use wheelchair accessible ramps and lifts.
	Lessons learned from this development are presented to improve the
	design of future mobile manipulation systems, and the Segway base
	provides mobility to Robonaut for Earth based testing.},
  doi = {10.1109/ROBOT.2004.1308134},
  issn = {1050-4729},
  keywords = {aerospace robotics, dexterous manipulators, mobile robots, telerobotics,
	DARPA, Defense Advanced Research Projects Agency, Johnson Space Center,
	NASA robonaut, Robotic Mobility Platform, Segway mobile base, dexterous
	limbs, flexible tethers handling, human interactions, mobile manipulation,
	mobile robot, space flight gear, telerobotics, tracking, wheelchair
	accessible ramps, wire cutters},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@PHDTHESIS{Andersen,
  author = {Claus Siggaard Andersen},
  title = {A Framework for COntrol of a Camera Head},
  school = {Aalborg University},
  year = {1996},
  address = {Uppsala, Sweden},
  month = {January},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Anderson,
  author = {Charles W. Anderson},
  title = {Learning to Control an inverted pendilum using neural networks},
  journal = {IEEE Control Systems Magazine},
  year = {1989},
  volume = {9},
  pages = {31-37},
  number = {3},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{anderson_etal_iser08,
  author = {Dean Anderson and Thomas M. Howard and David Apfelbaum and Herman
	Herman and Alonzo Kelly},
  title = {Coordinated Control and Range Imaging for Mobile Manipulation},
  booktitle = {International Symposium on Experimental Robotics},
  year = {2008},
  owner = {Mihail},
  timestamp = {2010.03.08}
}

@ARTICLE{angeles_lopezcajun_ijrr92,
  author = {J. Angeles and C. S. Lopez-Cajun},
  title = {Kinematic Isotropy and the Conditioning Index of Serial Robotic Manipulators},
  journal = {International Journal of Robotics Research},
  year = {1992},
  volume = {11},
  pages = {560-571},
  number = {6},
  abstract = {The conditioning index of a serial robotic manipulator is de fined
	in this article in terms of the reciprocal of its minimum condition
	number. The condition number of a manipulator is defined, in turn,
	as that of its Jacobian matrix. Moreover, in defining the Jacobian
	condition number, a quadratic norm of the Jacobian matrix is needed.
	However, this norm, or for that matter any other norm, brings about
	dimensional inho mogeneities. It is shown here that by properly defining
	the said norm based on a weighting positive definite matrix, the
	dimensional inhomogeneity is resolved. Manipulators with a conditioning
	index of 100% are termed isotropic, a six-axis isotropic manipulator
	being introduced. This manipulator has all its angles between neighboring
	revolute axes at 90Â° and all its distances between neighboring axes
	identical; more over, these distances are identical to the offsets
	of those axes. The kinematic conditioning of wrist-partitioned manipulators
	is given due attention, and illustrated with some examples of industrial
	robots of this type.},
  doi = {10.1177/027836499201100605},
  owner = {Mihail},
  timestamp = {2010.03.04}
}

@ARTICLE{Anh2010,
  author = {Anh, Ho Pham Huy},
  title = {Online tuning gain scheduling MIMO neural PID control of the 2-axes
	pneumatic artificial muscle (PAM) robot arm},
  journal = {Expert Syst. Appl.},
  year = {2010},
  volume = {37},
  pages = {6547--6560},
  number = {9},
  abstract = {This paper presents a detailed study to investigate the possibility
	of applying the online tuning gain scheduling MIMO neural dynamic
	DNN-PID control architecture to a nonlinear 2-axes pneumatic artificial
	muscle (PAM) robot arm so as to improve its joint angle position
	output performance. The proposed controller was implemented as a
	subsystem to control the real-time 2-axes PAM robot-arm system so
	as to control precisely the joint angle position of the 2-axes PAM
	robot arm when subjected to system internal interactions and load
	variations. The results of the experiment have demonstrated the feasibility
	and benefits of the novel proposed control approach in comparison
	with the traditional PID control strategy. The proposed gain scheduling
	neural MIMO DNN-PID control scheme forced both joint angle outputs
	of 2-axes PAM robot arm to track those of the reference simultaneously
	under changes of the load and system coupled internal interactions.
	The performance of this novel proposed controller was found to be
	outperforming in comparison with conventional PID. These results
	can be applied to control other highly nonlinear systems.},
  address = {Tarrytown, NY, USA},
  doi = {http://dx.doi.org/10.1016/j.eswa.2010.02.131},
  issn = {0957-4174},
  owner = {Mihail},
  publisher = {Pergamon Press, Inc.},
  timestamp = {2010.07.05}
}

@ARTICLE{anisi_hamberg_hu_03,
  author = {Anisi, D. A. and Hamberg, J. and Hu, X.},
  title = {Nearly time-optimal paths for a ground vehicle},
  journal = {Journal of Control Theory and Applications},
  year = {2003}
}

@BOOK{Bartlett,
  title = {Neural Networks Learning: Theoretical Foundations},
  publisher = {Cambridge University Press},
  year = {1999},
  author = {Martin Anthony and Peter Bartlett},
  address = {Cambridge, UK},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Arrow60,
  author = {Arrow, Kenneth J. and Hurwicz, Leonid},
  title = {Stability of the gradient process in $n$-person games},
  journal = {Journal of the Society for Industrial and Applied Mathematics},
  year = {1960},
  volume = {8},
  pages = {280-295},
  number = {2},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{ArtificialIntelligenceReviewstaff2003,
  author = {Artificial Intelligence Review staff,},
  title = {Contents of Volume 20},
  journal = {Artif. Intell. Rev.},
  year = {2003},
  volume = {20},
  pages = {505--506},
  number = {3-4},
  address = {Norwell, MA, USA},
  issn = {0269-2821},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.07.05}
}

@ARTICLE{Asada96,
  author = {Minoru Asada and Takayuki Nakamura and Koh Hosoda},
  title = {Purposive Behavior Acquisition for a Real Robot by Vision-Based Reinforcement
	Learning},
  journal = mlj,
  year = {1996},
  volume = {23},
  pages = {1-40},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Atallah2005,
  author = {Atallah, Mikhail J. and Frikken, Keith B. and Blanton, Marina},
  title = {Dynamic and efficient key management for access hierarchies},
  booktitle = {CCS '05: Proceedings of the 12th ACM conference on Computer and communications
	security},
  year = {2005},
  pages = {190--202},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {The problem of key management in an access hierarchy has elicited
	much interest in the literature. The hierarchy is modeled as a set
	of partially ordered classes (represented as a directed graph), and
	a user who obtains access (i.e., a key) to a certain class can also
	obtain access to all descendant classes of her class through key
	derivation. Our solution to the above problem has the following properties:
	(i) only hash functions are used for a node to derive a descendant's
	key from its own key; (ii) the space complexity of the public information
	is the same as that of storing the hierarchy; (iii) the private information
	at a class consists of a single key associated with that class; (iv)
	updates (revocations, additions, etc.) are handled locally in the
	hierarchy; (v) the scheme is provably secure against collusion; and
	(vi) key derivation by a node of its descendant's key is bounded
	by the number of bit operations linear in the length of the path
	between the nodes. Whereas many previous schemes had some of these
	properties, ours is the first that satisfies all of them. Moreover,
	for trees (and other "recursively decomposable" hierarchies), we
	are the first to achieve a worst- and average-case number of bit
	operations for key derivation that is exponentially better than the
	depth of a balanced hierarchy (double-exponentially better if the
	hierarchy is unbalanced, i.e., "tall and skinny"); this is achieved
	with only a constant increase in the space for the hierarchy. We
	also show how with simple modifications our scheme can handle extensions
	proposed by Crampton of the standard hierarchies to "limited depth"
	and reverse inheritance [13]. The security of our scheme relies only
	on the use of pseudo-random functions.},
  doi = {http://doi.acm.org/10.1145/1102120.1102147},
  isbn = {1-59593-226-7},
  location = {Alexandria, VA, USA},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@ARTICLE{Atkar2009,
  author = {Atkar, P. N. and Conner, D. C. and Greenfield, A. and Choset, H.
	and Rizzi, A. A. },
  title = {Hierarchical Segmentation of Piecewise Pseudoextruded Surfaces for
	Uniform Coverage},
  journal = IEEE_J_ASE,
  year = {2009},
  volume = {6},
  pages = {107--120},
  number = {1},
  month = jan,
  doi = {10.1109/TASE.2008.916768},
  owner = {Mihail},
  timestamp = {2010.02.05}
}

@INPROCEEDINGS{Atkar2005,
  author = {Atkar, P. N. and Greenfield, A. and Conner, D. C. and Choset, H.
	and Rizzi, A. A. },
  title = {Hierarchical Segmentation of Surfaces Embedded in R3 for Auto-Body
	Painting},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2005},
  year = {2005},
  pages = {572--577},
  month = apr # { 18--22,},
  owner = {Mihail},
  timestamp = {2010.02.05}
}

@INPROCEEDINGS{Aubin2002,
  author = {Aubin, J.-P. and Haddad, G. },
  title = {Detectability through measurements under impulse differential inclusions},
  booktitle = {Proc. 41st IEEE Conf. Decision and Control},
  year = {2002},
  volume = {4},
  pages = {3591--3595},
  abstract = {This paper adapts to the case of impulse and hybrid control systems
	the results obtained by Aubin, <span class='snippet'>Bicchi</span>
	& <span class='snippet'>Pancanti</span> on "detectability" of solutions
	of usual control systems. Measurements of the state, described by
	a informational tube, that may be quantized, are gathered along time,
	The detector associates at each time with any state ,satisfying the
	given measurement the (possibly) empty set of the initial states
	from which starts a solution that arrives at this state while satisfying
	the measurements. This detector is then studied by tools of viability
	theory, and shown to be a solution to a system of Hamilton-Jacobi-Bellman
	partial differential inclusions satisfying supplementary conditions
	(that can be regarded as the vector analogue of Bensoussan-Lions
	"quasi-variational inequalities". in impulse optimal control. The
	derivatives of the detector provide the regulation map governing
	the motives of the detectable runs.},
  doi = {10.1109/CDC.2002.1184919},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{backes_etal_05,
  author = {Backes, P. and Diaz-Calderon, A. and Robinson, M. and Bajracharya,
	M. and Helmick, D.},
  title = {Automated rover positioning and instrument placement},
  booktitle = {IEEE Aerospace Conference},
  year = {2005},
  owner = {Mihail},
  timestamp = {2010.03.09}
}

@PHDTHESIS{Baird,
  author = {Leemon C. Baird},
  title = {Reinforcement Learning Through Gradient Descent},
  school = {CMU},
  year = {1999},
  address = {Pittsburgh, PA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Baird95,
  author = {Baird, Leemon C.},
  title = {Residual algorithms: Reinforcement learning with function approximation},
  booktitle = ml95,
  year = {1995},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  optaddress = {San Francisco, CA},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Baird99,
  author = {Leemon C. Baird and Andrew W. Moore},
  title = {Gradient Descent for General Reinforcement Learning},
  booktitle = nips,
  year = {1999},
  volume = {11},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Baker2004,
  author = {Baker, C. and Morris, A. and Ferguson, D. and Thayer, S. and Whittaker,
	C. and Omohundro, Z. and Reverte, C. and Whittaker, W. and Hahnel,
	D. and Thrun, S. },
  title = {A campaign in autonomous mine mapping},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'04},
  year = {2004},
  volume = {2},
  pages = {2004--2009 Vol.2},
  abstract = {Unknown, unexplored and abandoned subterranean voids threaten mining
	operations, surface developments and the environment. Hazards within
	these spaces preclude human access to create and verify extensive
	maps or to characterize and analyze the environment. To that end,
	we have developed a mobile robot capable of autonomously exploring
	and mapping abandoned mines. To operate without communications in
	a harsh environment with little chance of rescue, this robot must
	have a robust electro-mechanical platform, a reliable software system,
	and a dependable means of failure recovery. Presented are the mechanisms,
	algorithms, and analysis tools that enable autonomous mine exploration
	and mapping along with extensive experimental results from eight
	successful deployments into the abandoned Mathies coal mine near
	Pittsburgh, PA.},
  doi = {10.1109/ROBOT.2004.1308118},
  issn = {1050-4729},
  keywords = {mining, mobile robots, path planning, Mathies coal mine, Pittsburgh,
	abandoned mine mapping, autonomous mine exploration, autonomous mine
	mapping, failure recovery, mobile robots, reliable software system,
	robust electromechanical platform},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{baker_etal_04,
  author = {Baker, C. and Morris, A. and Ferguson, D. and Thayer, S. and Whittaker,
	C. and Omohundro, Z. and Reverte, C. and Whittaker, W. and Hahnel,
	D. and Thrun, S.},
  title = {A campaign in autonomous mine mapping},
  booktitle = {Proc. of the IEEE Conference on Robotics and Automation},
  year = {2004},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Ballard91,
  author = {Ballard, Dana},
  title = {Animate Vision},
  journal = aij,
  year = {1991},
  volume = {48},
  pages = {1-27},
  number = {1},
  month = {February},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Banerji1982,
  author = {Banerji, R. B. },
  title = {Theory of problem solving: A branch of artificial intelligence},
  journal = IEEE_J_PROC,
  year = {1982},
  volume = {70},
  pages = {1428--1448},
  number = {12},
  abstract = {A mathematical model is given for the concepts of problem and solution,
	and related to activities in other branches of Artificial Intelligence
	(AI). Three techniques are described for guiding the search for the
	solution of a given problem: to wit, the branch and bound or A<sup>*</sup>technique
	of Hart, Nilsson, and Raphael [1]; the Geneva Problem Solver (GPS)
	of Simon, Newell, and Shaw [2]; and the constraint satisfaction techniques
	developed by various authors. Of these, the first technique has been
	investigated with respect to the efficiency of search as a function
	of the accuracy of the bound. The results of these investigations
	are discussed. The first two techniques are dependent for their success
	in search reduction on the identification of certain functions (the
	bound in A<sup>*</sup>) and sets ("differences" in the GPS). The
	logical and algebraic techniques for their identification are indicated.
	The third technique so far has been applied to special classes of
	problems and includes some method of search reduction. The concepts
	are illustrated by a set of mathematical puzzles. Two-person perfect
	information games have been discussed in extended form. Search strategies
	for winning moves have been discussed from a perspective similar
	to that discussed earlier.},
  issn = {0018-9219},
  owner = {Mihail},
  timestamp = {2010.01.22}
}

@INPROCEEDINGS{Barraquand1995,
  author = {Barraquand, J. and Ferbach, P. },
  title = {Motion planning with uncertainty: the information space approach},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1995},
  volume = {2},
  pages = {1341--1348 vol.2},
  abstract = {Presents a general approach to motion planning with uncertainty based
	upon the Bellman principle of stochastic dynamic programming. The
	authors introduce the information space, whose elements represent
	accumulated information about a system. To each of these elements
	corresponds a certain knowledge of the system, that takes the form
	of a probability distribution. By applying stochastic dynamic programming
	(DP), the authors generate optimal or suboptimal motion strategies,
	i.e. motion commands corresponding to current knowledge, whose execution
	gives the system the greatest probability of reaching a goal configuration},
  doi = {10.1109/ROBOT.1995.525465},
  issn = {1050-4729},
  keywords = {dynamic programming, mobile robots, path planning, probability, stochastic
	programming, uncertainty handling, Bellman principle, goal configuration,
	information space approach, motion commands, motion planning, optimal
	motion strategies, probability distribution, stochastic dynamic programming,
	suboptimal motion strategies, uncertainty},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Barraquand1994,
  author = {Barraquand, J. and Ferbach, P. },
  title = {Path planning through variational dynamic programming},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1994},
  pages = {1839--1846 vol.3},
  abstract = {This paper presents a novel approach to path planning. It is a variational
	technique, consisting of iteratively improving an initial path possibly
	colliding with obstacles. At each iteration, the path is improved
	by performing a dynamic programming search in a sub-manifold of the
	configuration space containing the current path. We call this method
	variational dynamic programming (VDP). The method can solve difficult
	high-dimensional path planning problems without using any problem-specific
	heuristics. More importantly, an extension of VDP can solve manipulator
	planning problems of unprecedented complexity},
  doi = {10.1109/ROBOT.1994.351193},
  keywords = {dynamic programming, iterative methods, path planning, robots, search
	problems, variational techniques, configuration space, iterative
	method, manipulator, path planning, search problem, variational dynamic
	programming},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Barraquand1994a,
  author = {Barraquand, J. and Ferbach, P. },
  title = {A penalty function method for constrained motion planning},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1994},
  pages = {1235--1242 vol.2},
  abstract = {Establishes necessary and sufficient conditions under which manipulation
	constraints are holonomic. Then the authors present a systematic
	approach to motion planning in the presence of manipulation constraints
	deriving from this theory. Its principle is to replace a constrained
	problem by a convergent series of less constrained subproblems increasingly
	penalizing motions that do not satisfy the constraints. Each subproblem
	is solved using a standard path planner. The authors use the method
	of variational dynamic programming for solving the subproblems. The
	implemented planner has solved manipulation planning problems of
	unprecedented complexity},
  doi = {10.1109/ROBOT.1994.351317},
  keywords = {dynamic programming, path planning, variational techniques, constrained
	motion planning, holonomic manipulation constraints, necessary and
	sufficient conditions, penalty function method, standard path planner,
	variational dynamic programming},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{barraquand_etal_96,
  author = {Barraquand, J. and Kavraki, L. and Latombe, J.-C. and Li, T.-Y. and
	Motwani, R. and Raghavan, P.},
  title = {A random sampling scheme for robot path planning},
  booktitle = {Proc. of the 7th International Symposium on Robotics Research},
  year = {1996},
  editor = {G. Giralt and G. Hirzinger},
  pages = {249-264},
  publisher = {Springer, New York, NY.},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Barraquand1992,
  author = {Barraquand, J. and Langlois, B. and Latombe, J.-C. },
  title = {Numerical potential field techniques for robot path planning},
  journal = {IEEE Transactions on Systems, Man, and Cybernetics},
  year = {1992},
  volume = {22},
  pages = {224--241},
  number = {2},
  abstract = {An approach to robot path planning that consists of incrementally
	building a graph connecting the local minima of a potential field
	defined in the robot's configuration space and concurrently searching
	this graph until a goal configuration is attained is proposed. Unlike
	the so-called global path planning methods, this approach does not
	require an expensive computation step before the search for a path
	can actually start, and it searches a graph that is usually much
	smaller than the graph searched by the so-called local methods. A
	collection of effective techniques to implement this approach is
	described. They are based on the use of multiscale pyramids of bitmap
	arrays for representing both the robot's workspace and configuration
	space. This distributed representation makes it possible to construct
	potential fields numerically, rather than analytically. A path planner
	based on these techniques has been implemented. Experiments with
	this planner show that it is both very fast and capable of handling
	many degrees of freedom},
  doi = {10.1109/21.148426},
  issn = {0018-9472},
  keywords = {graph theory, navigation, planning (artificial intelligence), robots,
	bitmap arrays, configuration space, graph, local minima, multiscale
	pyramids, potential field, robot path planning},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Barraquand1991,
  author = {Barraquand, J. and Langlois, B. and Latombe, J.-C. },
  title = {Numerical potential field techniques for robot path planning},
  booktitle = {Proc. Fifth International Conference on Advanced Robotics 'Robots
	in Unstructured Environments', 91 ICAR},
  year = {1991},
  pages = {1012--1017 vol.2},
  abstract = {The authors investigate a path planning approach that consists of
	concurrently building and searching a graph connecting the local
	minima of a numerical potential field defined over the robot's configuration
	space. They describe techniques for constructing `good' potentials
	and efficient methods for dealing with the local minima of these
	functions. These techniques have been implemented in fast planners
	that can deal with single and/or multiple robot systems with few
	and/or many degrees of freedom. Some experimental results with these
	planners are described},
  doi = {10.1109/ICAR.1991.240539},
  keywords = {graph theory, path planning, robots, search problems, configuration
	space, graph building, graph searching, local minima, numerical potential
	field techniques, robot path planning},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@ARTICLE{barraquand_latombe.ijrr91,
  author = {J. Barraquand and J. C. Latombe},
  title = {Robot motion planning: a distributed representation approach},
  journal = ijrr,
  year = {1991},
  volume = {10},
  number = {6},
  owner = {mihail},
  timestamp = {2012.03.12}
}

@ARTICLE{barraquand_latombe_93,
  author = {Jerome Barraquand and Jean-Claude Latombe},
  title = {Nonholonomic multibody mobile robots: Controllability and motion
	planning in the presence of obstacles},
  journal = {Algorithmica},
  year = {1993},
  volume = {10},
  pages = {121-155},
  number = {2-4},
  month = {10},
  owner = {Mihail},
  timestamp = {2010.03.07}
}

@INPROCEEDINGS{Barraquand1991a,
  author = {Barraquand, J. and Latombe, J.-C. },
  title = {Nonholonomic multibody mobile robots: controllability and motion
	planning in the presence of obstacles},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1991},
  pages = {2328--2335 vol.3},
  abstract = {It is shown that the well-known controllability rank condition theorem
	is applicable to nonholonomic multibody robots, even when there are
	inequality constraints on the velocity. This makes it possible to
	subsume and generalize several controllability results published
	in the robotics literature concerning nonholonomic mobile robots,
	and to infer new results. Also described is an implemented planner
	based on these results. Experimental results obtained with this planar
	are given},
  doi = {10.1109/ROBOT.1991.131750},
  keywords = {controllability, mobile robots, navigation, planning (artificial intelligence),
	controllability rank condition theorem, inequality constraints, mobile
	robots, motion planning, nonholonomic multibody robots, path planning},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@ARTICLE{barraquand_latombe_91,
  author = {Barraquand, J. and Latombe, J.-C.},
  title = {Nonholonomic multibody mobile robots: controllability and motion
	planning in the presence of obstacles},
  journal = {Proc. of the IEEE International Conference on Robotics and Automation},
  year = {1991},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Barraquand1990,
  author = {Barraquand, J. and Latombe, J.-C. },
  title = {A Monte-Carlo algorithm for path planning with many degrees of freedom},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1990},
  pages = {1712--1717 vol.3},
  abstract = {A stochastic technique is described for planning collision-free paths
	of robots with many degrees of freedom (DOFs). The algorithm incrementally
	builds a graph connecting the local minima of a potential function
	defined in the robot's configuration space and concurrently searches
	the graph until a goal configuration is attained. A local minimum
	is connected to another one by executing a random motion that escapes
	the well of the first minimum, succeeded by a gradient motion that
	follows the negated gradient of the potential function. All the motions
	are executed in a grid shown through the robot's configuration space.
	The random motions are implemented as random walks which are known
	to converge toward Brownian motions when the steps of the walks tend
	toward zero. The local minima graph is searched using a depth-first
	strategy with random backtracking. In the technique, the planner
	does not explicitly represent the local-minima graph. The path-planning
	algorithm has been fully implemented and has run successfully on
	a variety of problems involving robots with many degrees of freedom},
  doi = {10.1109/ROBOT.1990.126256},
  keywords = {Brownian motion, Monte Carlo methods, graph theory, planning (artificial
	intelligence), robots, search problems, stochastic processes, Brownian
	motions, Monte-Carlo algorithm, artificial intelligence, collision-free
	paths, gradient motion, graph theory, local minima, path planning,
	random motion, random walks, robots, stochastic technique},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@ARTICLE{barraquand_latombe_90,
  author = {Barraquand, J. and Latombe, J.-C.},
  title = {A Monte-Carlo algorithm for path planning with many degrees of freedom},
  journal = {Proc. of the IEEE International Conference on Robotics and Automation},
  year = {1990},
  pages = {1712--1717},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Barraquand1989,
  author = {Barraquand, J. and Latombe, J.-C.},
  title = {On nonholonomic mobile robots and optimal maneuvering},
  booktitle = {Proc. IEEE International Symposium on Intelligent Control},
  year = {1989},
  pages = {340--347},
  abstract = {The authors consider the robot path planning problem in the presence
	of nonintegrable kinematic constraints, known as nonholonomic constraints.
	Such constraints are generally caused by one or several rolling contacts
	between rigid bodies and express that the relative velocity of two
	points in contact is zero. They make the dimension of the space of
	achievable velocities smaller than the dimension of the robot's configuration
	space. Using standard results in differential geometry (Frobenius
	integrability theorem) and nonlinear control theory, the authors
	first give a formal characterization of holonomy (and nonholonomy)
	for robot systems subject to linear differential constraints and
	state some related results about their controllability. They then
	apply these results to `car-like' and `trailer-like' robots. Finally,
	they present an implemented planner, which generates collision-free
	paths with a minimal number of maneuvers for car-like and trailer-like
	robots among obstacles},
  doi = {10.1109/ISIC.1989.238696},
  keywords = {controllability, mobile robots, nonlinear control systems, position
	control, Frobenius integrability theorem, collision-free paths, controllability,
	differential geometry, nonholonomic mobile robots, nonintegrable
	kinematic constraints, nonlinear control theory, optimal maneuvering,
	robot path planning problem},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{barraquand_latombe_89,
  author = {Barraquand, J. and Latombe, J.-C.},
  title = {On nonholonomic mobile robots and optimal maneuvering},
  booktitle = {Proc. of the IEEE International Symposium on Intelligent Control},
  year = {1989},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{barraquand_ferbach_94,
  author = {Barraquand, J.-C. and Ferbach, P.},
  title = {A penalty function method for constrained motion planning},
  journal = {Proc. of the IEEE International Conference on Robotics and Automation},
  year = {1994},
  pages = {1235--1242},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@TECHREPORT{Bartlett99,
  author = {Peter Bartlett and Jonathan Baxter},
  title = {Hebbian Synaptic Modifications in Spiking Neurons that Learn},
  institution = {Australian National University},
  year = {1999},
  address = {Sydney, Australia},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{BartlettBucheronLugosi00,
  author = {Peter Bartlett and S. Boucheron and G{\'a}bor Lugosi},
  title = {Model Selection and Error Estimation},
  booktitle = colt00,
  year = {2000},
  address = {New York, NY},
  publisher = {ACM Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Barto85,
  author = {Andrew G. Barto},
  title = {Learning by statistical cooperation of self-interested neuron-like
	computing elements},
  journal = {Human Neurobiology},
  year = {1985},
  volume = {4},
  pages = {229-256},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Barto83,
  author = {Andrew G. Barto and Richard S. Sutton and Charles W. Anderson},
  title = {Neuronlike Adaptive Elements That Can Solve Difficult Learning Control
	Problems},
  journal = {IEEE Transactions on Systems, Man, and Cybernetics},
  year = {1983},
  volume = {SMC-13},
  pages = {834-846},
  number = {5},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Baum99,
  author = {Eric Baum},
  title = {Toward a Model of Intelligence as an Economy of Agents},
  journal = mlj,
  year = {1999},
  volume = {35},
  pages = {155-185},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INBOOK{Baum,
  chapter = {Manifesto for an Evolutionary Economics of Intelligence},
  pages = {285-344},
  title = {Neural Networks and Machine Learning},
  publisher = {Springer-Verlag},
  year = {1998},
  author = {Eric Baum},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Baum00,
  author = {Eric B. Baum},
  title = {Evolution of Cooperative Problem Solving in an Artificial Economy},
  journal = {Neural Computation},
  year = {2000},
  volume = {12},
  pages = {2743-2775},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Baumgartner2006,
  author = {Baumgartner, E. T. and Bonitz, R. G. and Melko, J. P. and Shiraishi,
	L. R. and Leger, P. C. and Trebi-Ollennu, A. },
  title = {Mobile manipulation for the Mars exploration rover - a dexterous
	and robust instrument positioning system},
  journal = {IEEE Robotics \& Automation Magazine},
  year = {2006},
  volume = {13},
  pages = {27--36},
  number = {2},
  abstract = {This article has described in detail the Mars exploration rover's
	instrument positioning system and the use of this subsystem to carryout
	in situ operations of the Martian surface and subsurface. All told,
	the instrument deployment device (IDD) has served as an exceptional
	robotic mechanism for performing robust and reliable in situ science.
	The ability to carry out high precision mobile manipulation functions
	provided by the rover and the IDD has been critical to gaining a
	fundamental understanding of the water processes at work at both
	the Spirit and Opportunity landing sites. As such, the MER's IPS
	has paved the way for the use of future robotic devices that advance
	NASA's capabilities in autonomous manipulation, sample acquisition,
	and in situ science investigations},
  doi = {10.1109/MRA.2006.1638013},
  issn = {1070-9932},
  keywords = {aerospace robotics, manipulators, mobile robots, planetary rovers,
	telerobotics, Mars exploration rover, instrument deployment device,
	instrument positioning system, mobile manipulation, robotic mechanism},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@ARTICLE{Baumgartner2006a,
  author = {Baumgartner, E. T. and Bonitz, R. G. and Melko, J. P. and Shiraishi,
	L. R. and Leger, P. C. and Trebi-Ollennu, A. },
  title = {Mobile manipulation for the Mars exploration rover - a dexterous
	and robust instrument positioning system},
  journal = {IEEE Robotics Automation Magazine},
  year = {2006},
  volume = {13},
  pages = {27--36},
  number = {2},
  month = jun,
  doi = {10.1109/MRA.2006.1638013},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@ARTICLE{Baxter00,
  author = {Jonathan Baxter},
  title = {A model of inductive bias learning},
  journal = {Journal of Artificial Intelligence Research},
  year = {2000},
  volume = {12},
  pages = {149-198},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{BaxterICML00,
  author = {Jonathan Baxter and Bartlett, Peter},
  title = {Reinforcement Learning in {POMDP}'s via Direct Gradient Ascent},
  booktitle = ml00,
  year = {2000},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Bayazit2001,
  author = {Bayazit, O. Bur\c{c}han and Song, Guang and Amato, Nancy M.},
  title = {Enhancing Randomized Motion Planners: Exploring with Haptic Hints},
  journal = {Auton. Robots},
  year = {2001},
  volume = {10},
  pages = {163--174},
  number = {2},
  abstract = {In this paper, we investigate methods for enabling a human operator
	and an automatic motion planner to cooperatively solve a motion planning
	query. Our work is motivated by our experience that automatic motion
	planners sometimes fail due to the difficulty of discovering ``critical''
	configurations of the robot that are often naturally apparent to
	a human observer.Our goal is to develop techniques by which the automatic
	planner can utilize (easily generated) user-input, and determine
	``natural'' ways to inform the user of the progress made by the motion
	planner. We show that simple randomized techniques inspired by probabilistic
	roadmap methods are quite useful for transforming approximate, user-generated
	paths into collision-free paths, and describe an iterative transformation
	method which enables one to transform a solution for an easier version
	of the problem into a solution for the original problem. We also
	illustrate that simple visualization techniques can provide meaningful
	representations of the planner's progress in a 6-dimensional C-space.
	We illustrate the utility of our methods on difficult problems involving
	complex 3D CAD Models.},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1023/A:1008981903273},
  issn = {0929-5593},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.07.05}
}

@ARTICLE{bayle_fourquet_renaud_ijrr03,
  author = {B. Bayle and J.-Y. Fourquet and M. Renaud},
  title = {Manipulability of Wheeled Mobile Manipulators: Application to Motion
	Generation},
  journal = {International Journal of Robotics Research},
  year = {2003},
  volume = {22},
  pages = {565-581},
  number = {7-8},
  owner = {Mihail},
  timestamp = {2010.03.09}
}

@ARTICLE{Bayro-corrochano2008,
  author = {Bayro-corrochano, Eduardo},
  title = {Editorial},
  journal = {Robotica},
  year = {2008},
  volume = {26},
  pages = {415--416},
  number = {4},
  abstract = {Robotic sensing is a relatively new field of activity compared with
	the design and control of robot mechanisms. In both areas the role
	of geometry is natural and necessary for the development of devices,
	their control and use in challenging environments. At the very beginning
	odometry, tactile and touch sensors dominated robot sensing. More
	recently, due to the fall in the price of laser devices, they have
	become more attractive to the community. On the other hand, progress
	in photogrametry, particularly during the nineties as the n-view
	geometry in projective geometry matured, boot-strapped the use of
	computer vision as an extra powerful sensor technique for robot guidance.
	Cameras were used in monocular or stereoscopic fashion, catadioptric
	systems for ominidirectional vision, fish-eye cameras and camera
	networks made the use of computer vision even more diverse. Researchers
	started to combine sensors for 2D and 3D sensing by fusing sensor
	data in a projective framework. Thanks to the continuous progress
	in mechatronics, the low prices of fast computers and increasing
	accuracy of sensor systems, one can build a robot to perceive its
	surroundings, reconstruct, plan and ultimately act intelligently.
	In these perception-action systems there is of course, the urgent
	need for a geometric stochastic framework to deal with uncertainty
	in the sensing, planning and action in a robust manner. Here geometry
	can play a central role for the representation and computing in higher
	dimensions using projective geometry and differential geometry on
	Lie groups manifolds with a pseudo Euclidean metric. Let us review
	briefly the developments towards modern geometry that have been often
	overlooked by the robotic researchers and practitioners.},
  address = {New York, NY, USA},
  doi = {http://dx.doi.org/10.1017/S0263574708004785},
  issn = {0263-5747},
  owner = {Mihail},
  publisher = {Cambridge University Press},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Becker2009,
  author = {Becker, Eric and Guerra-Filho, Gutemberg and Makedon, Fillia},
  title = {Automatic sensor placement in a 3D volume},
  booktitle = {PETRA '09: Proceedings of the 2nd International Conference on PErvsive
	Technologies Related to Assistive Environments},
  year = {2009},
  pages = {1--8},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {Given a 3D environment, a set of constraints, and a set of sensor
	models, this paper addresses the problem of finding the set of sensors
	and their corresponding placement that covers a target space in the
	environment. The set of possible sensors is represented in a parametric
	space associated with the sensor's pose. Initially, the target space
	is discretized as a set of space elements. A voting scheme builds
	an accumulator array where each space element votes for all sensors
	that may observe it while satisfying the perceptual constraints.
	A heuristic selects the best set of cameras that covers the target
	space. We present experimental results with synthetic and realistic
	3D models.},
  doi = {http://doi.acm.org/10.1145/1579114.1579150},
  isbn = {978-1-60558-409-6},
  location = {Corfu, Greece},
  owner = {Mihail},
  timestamp = {2010.03.03}
}

@INPROCEEDINGS{Beckers94,
  author = {R. Beckers and Owen E. Holland and J. L. Deneubourg},
  title = {From Local Actions to Global Tasks: Stigmergy and Collective Robotics},
  booktitle = {Artificial Life IV},
  year = {1994},
  address = {Cambridge, MA},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Bedillion2009,
  author = {Bedillion, Mark and Messner, William},
  title = {Control for Actuator Arrays},
  journal = {Int. J. Rob. Res.},
  year = {2009},
  volume = {28},
  pages = {868--882},
  number = {7},
  abstract = {Actuator arrays are planar arrangements of simple actuators that cooperate
	to translate and orient objects. This paper derives the equations
	of motion for manipulating an object in stick/slip contact with the
	actuators. A controller derived from kinematics considerations is
	presented and its stability analyzed with the multivariable circle
	criterion. Stability results are verified through simulation and
	experimental results on a 20 unit macroscopic actuator array.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364909100733},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.02.05}
}

@INPROCEEDINGS{Bekris2006,
  author = {Bekris, K. E. and Click, M. and Kavraki, E. E. },
  title = {Evaluation of algorithms for bearing-only SLAM},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2006},
  year = {2006},
  pages = {1937--1943},
  abstract = {An important milestone for building affordable robots that can become
	widely popular is to address robustly the simultaneous localization
	and mapping (SLAM) problem with inexpensive, off-the-shelf sensors,
	such as monocular cameras. These sensors, however, impose significant
	challenges on SLAM procedures because they provide only bearing data
	related to environmental landmarks. This paper starts by providing
	an extensive comparison of different techniques for bearing-only
	SLAM in terms of robustness under different noise models, landmark
	densities and robot paths. We have experimented in a simulated environment
	with a variety of existing online algorithms including Rao-Blackwellized
	particle filters (RB-PFs). Our experiments suggest that RB-PFs are
	more robust compared to other existing methods and run considerably
	faster. Nevertheless, their performance suffers in the presence of
	outliers. In order to overcome this limitation we proceed to propose
	an augmentation of RB-PFs with: (a) Gaussian sum filters for landmark
	initialization and (b) an online, unsupervised outlier rejection
	policy. This framework exhibits impressive robustness and efficiency
	even in the presence of outliers},
  doi = {10.1109/ROBOT.2006.1641989},
  issn = {1050-4729},
  keywords = {Gaussian distribution, image sensors, motion control, particle filtering
	(numerical methods), path planning, robots, Gaussian sum filters,
	Rao-Blackwellized particle filters, bearing-only SLAM, landmark densities,
	monocular cameras, robot paths, simultaneous localization and mapping,
	unsupervised outlier rejection policy},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Bekris2007,
  author = {Bekris, K. E. and Kavraki, L. E. },
  title = {Greedy but Safe Replanning under Kinodynamic Constraints},
  booktitle = icra,
  year = {2007},
  pages = {704--710},
  abstract = {We consider motion planning problems for a vehicle with kinodynamic
	constraints, where there is partial knowledge about the environment
	and replanning is required. We present a new tree-based planner that
	explicitly deals with kinodynamic constraints and addresses the safety
	issues when planning under finite computation times, meaning that
	the vehicle avoids collisions in its evolving configuration space.
	In order to achieve good performance we incrementally update a tree
	data-structure by retaining information from previous steps and we
	bias the search of the planner with a greedy, yet probabilistically
	complete state space exploration strategy. Moreover, the number of
	collision checks required to guarantee safety is kept to a minimum.
	We compare our technique with alternative approaches as a standalone
	planner and show that it achieves favorable performance when planning
	with dynamics. We have applied the planner to solve a challenging
	replanning problem involving the mapping of an unknown workspace
	with a nonholonomic platform},
  doi = {10.1109/ROBOT.2007.363069},
  issn = {1050-4729},
  keywords = {collision avoidance, greedy algorithms, mobile robots, observability,
	robot dynamics, state-space methods, trees (mathematics), vehicles,
	autonomous vehicles, collision avoidance, collision checking, greedy
	replanning, kinodynamic constraints, mobile robots, nonholonomic
	platform, partial observability, probabilistically complete state
	space exploration, safety issues, tree data structure, tree-based
	planner, vehicle motion planning},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Bekris2007a,
  author = {Bekris, K. E. and Tsianos, K. I. and Kavraki, L. E. },
  title = {A decentralized planner that guarantees the safety of communicating
	vehicles with complex dynamics that replan online},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2007},
  year = {2007},
  pages = {3784--3790},
  abstract = {This paper considers the problem of coordinating multiple vehicles
	with kinodynamic constraints that operate in the same partially-known
	environment. The vehicles are able to communicate within limited
	range. Their objective is to avoid collisions between them and with
	the obstacles, while the vehicles move towards their goals. An important
	issue of real-time planning for systems with bounded acceleration
	is that inevitable collision states must also be avoided. The focus
	of this paper is to guarantee safety despite the dynamic constraints
	with a decentralized motion planning technique that employs only
	local information. We propose a coordination framework that allows
	vehicles to generate and select compatible sets of valid trajectories
	and prove that this scheme guarantees collision-avoidance in the
	specified setup. The theoretical results have been also experimentally
	confirmed with a distributed simulator where each vehicle replans
	online with a sampling- based, kinodynamic motion planner and uses
	message-passing to communicate with neighboring agents.},
  doi = {10.1109/IROS.2007.4399520},
  keywords = {collision avoidance, decentralised control, mobile robots, remotely
	operated vehicles, autonomous mobile platforms, bounded acceleration,
	collision-avoidance, communicating vehicles, complex dynamics, decentralized
	motion planning technique, decentralized planner, dynamic constraints,
	inevitable collision states, kinodynamic constraints, real-time planning,
	replan online},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Bekris2007b,
  author = {Bekris, Kostas E. and Tsianos, Konstantinos I. and Kavraki, Lydia
	E.},
  title = {A distributed protocol for safe real-time planning of communicating
	vehicles with second-order dynamics},
  booktitle = {RoboComm '07: Proceedings of the 1st international conference on
	Robot communication and coordination},
  year = {2007},
  pages = {1--8},
  address = {Piscataway, NJ, USA},
  publisher = {IEEE Press},
  abstract = {This work deals with the problem of planning in real-time, collision-free
	motions for multiple communicating vehicles that operate in the same,
	partially-observable environment. A challenging aspect of this problem
	is how to utilize communication so that vehicles do not reach states
	from which collisions cannot be avoided due to second-order motion
	constraints. This paper provides a distributed communication protocol
	for realtime planning that guarantees collision avoidance with obstacles
	and between vehicles. It can also allow the retainment of a communication
	network when the vehicles operate as a networked team. The algorithm
	is a novel integration of sampling-based motion planners with message-passing
	protocols for distributed constraint optimization. Each vehicle uses
	the motion planner to generate candidate feasible trajectories and
	the message-passing protocol for selecting a safe and compatible
	trajectory. The existence of such trajectories is guaranteed by the
	overall approach. Experiments on a distributed simulator built on
	a cluster of processors confirm the safety properties of the approach
	in applications such as coordinated exploration. Furthermore, the
	distributed protocol has better scalability properties when compared
	against typical priority-based schemes.},
  isbn = {978-963-9799-08-0},
  location = {Athens, Greece},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@BOOK{Bellman57,
  title = {Dynamic Programming},
  publisher = {Princeton University Press},
  year = {1957},
  author = {Richard Bellman},
  address = {Princeton, NJ},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{bentley_75,
  author = {J. L. Bentley},
  title = {Multidimensional binary search trees used for associative searching},
  journal = {Communications of the ACM},
  year = {1975},
  volume = {18},
  pages = {509-517},
  number = {9},
  owner = {mihail},
  timestamp = {2012.01.27}
}

@INPROCEEDINGS{berenson_etal_humanoids09,
  author = {Dmitry Berenson and Joel Chestnutt and Siddhartha S. Srinivasa and
	James J. Kuffner and Satoshi Kagami},
  title = {Pose-Constrained Whole-Body Planning using Task Space Region Chains},
  booktitle = {Humanoids},
  year = {2009},
  owner = {Mihail},
  timestamp = {2010.03.07}
}

@INPROCEEDINGS{berenson_kuffner_choset_icra08,
  author = {Dmitry Berenson and James Kuffner and Howie Choset},
  title = {An Optimization Approach to Planning for Mobile Manipulation},
  booktitle = {ICRA},
  year = {2008},
  owner = {Mihail},
  timestamp = {2010.03.07}
}

@INPROCEEDINGS{berenson_etal_icra09,
  author = {Dmitry Berenson and Siddhartha S. Srinivasa and Dave Ferguson and
	Alvaro Collet and James J. Kuffner},
  title = {Manipulation Planning with Workspace Goal Regions},
  booktitle = icra,
  year = {2009},
  owner = {Mihail},
  timestamp = {2010.03.07}
}

@INPROCEEDINGS{berg_etal_icra10,
  author = {van den Berg, J. and Miller, S. and Duckworth, D. and Hu, H. and
	Wan, A. and Xiao-Yu Fu and Goldberg, K. and Abbeel, P. },
  title = {Superhuman performance of surgical tasks by robots using iterative
	learning from human-guided demonstrations},
  booktitle = {Proc. IEEE Int Robotics and Automation (ICRA) Conf},
  year = {2010},
  pages = {2074--2081},
  abstract = {In the future, robotic surgical assistants may assist surgeons by
	performing specific subtasks such as retraction and suturing to reduce
	surgeon tedium and reduce the duration of some operations. We propose
	an apprenticeship learning approach that has potential to allow robotic
	surgical assistants to autonomously execute specific trajectories
	with superhuman performance in terms of speed and smoothness. In
	the first step, we record a set of trajectories using human-guided
	backdriven motions of the robot. These are then analyzed to extract
	a smooth reference trajectory, which we execute at gradually increasing
	speeds using a variant of iterative learning control. We evaluate
	this approach on two representative tasks using the Berkeley Surgical
	Robots: a figure eight trajectory and a two handed knot-tie, a tedious
	suturing sub-task required in many surgical procedures. Results suggest
	that the approach enables (i) rapid learning of trajectories, (ii)
	smoother trajectories than the human-guided trajectories, and (iii)
	trajectories that are 7 to 10 times faster than the best human-guided
	trajectories.},
  doi = {10.1109/ROBOT.2010.5509621},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{Berg2008,
  author = {van den Berg, Jur and Patil, Sachin and Sewall, Jason and Manocha,
	Dinesh and Lin, Ming},
  title = {Interactive navigation of multiple agents in crowded environments},
  booktitle = {I3D '08: Proceedings of the 2008 symposium on Interactive 3D graphics
	and games},
  year = {2008},
  pages = {139--147},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/1342250.1342272},
  isbn = {978-1-59593-983-8},
  location = {Redwood City, California},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Berk2003,
  author = {Berk, V. and Bakos, G. and Morris, R. },
  title = {Designing a framework for active worm detection on global networks},
  booktitle = {Proc. First IEEE International Workshop on Information Assurance
	IWIAS 2003},
  year = {2003},
  pages = {13--23},
  abstract = {Past active Internet worms have caused widespread damage. Knowing
	the connection characteristics of such a worm very early in its proliferation
	cycle might provide first responders with an opportunity to intercept
	a global scale epidemic. We are presenting a scalable framework for
	detecting, in near-real-time, active Internet worms on global networks,
	both public and private. By aggregating network error messages resulting
	from failed attempts at packet delivery, we are able to infer deviant
	connection behavior of hosts on interconnected networks. The Internet
	Control Message Protocol (ICMP) provides such error notification.
	Using a potentially unlimited number of collectors and analyzers,
	we identify 'blooms' of activity. The connection characteristics
	of these 'blooms' are then correlated to identify worm-like behavior,
	and an alert is raised. Promising results have been produced with
	a simulated Internet worm, demonstrating that new worms can be detected
	within the first few minutes after release, depending on the level
	of participating router coverage.},
  doi = {10.1109/IWIAS.2003.1192455},
  keywords = {Internet, computer networks, invasive software, protocols, telecommunication
	security, ICMP, Internet Control Message Protocol, active worm detection,
	connection characteristics, deviant connection behavior, error notification,
	global networks, global scale epidemic, interconnected networks,
	network error messages, packet delivery, past active Internet worms,
	proliferation cycle, worm-like behavior},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{BernardineDias2004,
  author = {Bernardine Dias, M. and Zinck, M. and Zlot, R. and Stentz, A. },
  title = {Robust multirobot coordination in dynamic environments},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'04},
  year = {2004},
  volume = {4},
  pages = {3435--3442},
  month = apr,
  doi = {10.1109/ROBOT.2004.1308785},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{BernsteinUAI00,
  author = {Daniel Bernstein and Shlomo Zilberstein and Neil Immerman},
  title = {The Compplexity of Decentralized Control of {Markov} Decision Processes},
  booktitle = uai00,
  year = {2000},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Bernstein46,
  title = {The Theory of Probability},
  publisher = {{Gostehizdat}},
  year = {1946},
  author = {Sergei Natanovich Bernstein},
  address = {Moscow, Russia},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Berry,
  title = {Bandit {P}roblems. {S}equential Allocation of Experiments},
  publisher = {Chapman and Hall},
  year = {1985},
  author = {Berry, A. Donald and Fristedt, Bert},
  address = {London, UK},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{bertram_etal_icra06,
  author = {Dominik Bertram and James Kuffner and Ruediger Dillmann and Tamim
	Asfour},
  title = {An Integrated Approach to Inverse Kinematics and Path Planning for
	Redundant Manipulators},
  booktitle = {ICRA},
  year = {2006},
  owner = {Mihail},
  timestamp = {2010.03.07}
}

@BOOK{Bertsekas95,
  title = {Dynamic Programming and Optimal Control},
  publisher = {Athena Scientific},
  year = {1995},
  author = {Dimitri P. Bertsekas},
  address = {Belmont, MA},
  note = {Volumes 1 and 2},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Bertsekas,
  title = {Neuro-Dynamic Programming},
  publisher = {Athena Scientific},
  year = {1996},
  author = {Dimitri P. Bertsekas and John N. Tsitsiklis},
  address = {Belmont, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{bhatia_frazzoli_04,
  author = {Bhatia, A. and Frazzoli, E.},
  title = {Incremental search methods for reachability analysis of continuous
	and hybrid systems},
  journal = {Hybrid Systems: Computation and Control (Lecture Notes in Computer
	Science, no. 2993)},
  year = {2004},
  pages = {67-78},
  __markedentry = {[mihail]},
  editor = {R. Alur and G. J. Pappas},
  owner = {mihail},
  publisher = {Springer-Verlag, Berlin},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Bicchi1995,
  author = {Bicchi, A. and Casalino, G. and Santilli, C. },
  title = {Planning shortest bounded-curvature paths for a class of nonholonomic
	vehicles among obstacles},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1995},
  volume = {2},
  pages = {1349--1354},
  month = may # { 21--27,},
  doi = {10.1109/ROBOT.1995.525466},
  owner = {Mihail},
  timestamp = {2010.01.20}
}

@ARTICLE{bicchi_marigo_piccoli_02,
  author = {Bicchi, A. and Marigo, A. and Piccoli, B.},
  title = {On the reachability of quantized control systems},
  journal = {IEEE Transactions on Automatic Control},
  year = {2002},
  volume = {47},
  pages = {546-563},
  number = {4},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Biesiadecki2007,
  author = {Biesiadecki, Jeffrey J. and Leger, P. Chris and Maimone, Mark W.},
  title = {Tradeoffs Between Directed and Autonomous Driving on the Mars Exploration
	Rovers},
  journal = {Int. J. Rob. Res.},
  year = {2007},
  volume = {26},
  pages = {91--104},
  number = {1},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364907073777},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.01.17}
}

@ARTICLE{Bildirici2009,
  author = {Bildirici, Melike and Ersin, \"{O}zg\"{u}r \"{O}mer},
  title = {Improving forecasts of GARCH family models with the artificial neural
	networks: An application to the daily returns in Istanbul Stock Exchange},
  journal = {Expert Syst. Appl.},
  year = {2009},
  volume = {36},
  pages = {7355--7362},
  number = {4},
  abstract = {In the study, we discussed the ARCH/GARCH family models and enhanced
	them with artificial neural networks to evaluate the volatility of
	daily returns for 23.10.1987-22.02.2008 period in Istanbul Stock
	Exchange. We proposed ANN-APGARCH model to increase the forecasting
	performance of APGARCH model. The ANN-extended versions of the obtained
	GARCH models improved forecast results. It is noteworthy that daily
	returns in the ISE show strong volatility clustering, asymmetry and
	nonlinearity characteristics.},
  address = {Tarrytown, NY, USA},
  doi = {http://dx.doi.org/10.1016/j.eswa.2008.09.051},
  issn = {0957-4174},
  owner = {Mihail},
  publisher = {Pergamon Press, Inc.},
  timestamp = {2010.06.29}
}

@INCOLLECTION{blanz_etal_icann96,
  author = {Blanz, V. and Schölkopf, B. and Bülthoff, H. and Burges, C. and Vapnik,
	V. and Vetter, T.},
  title = {Comparison of view-based object recognition algorithms using realistic
	3D models},
  booktitle = {Artificial Neural Networks — ICANN 96},
  publisher = {Springer Berlin / Heidelberg},
  year = {1996},
  editor = {von der Malsburg, Christoph and von Seelen, Werner and Vorbrüggen,
	Jan and Sendhoff, Bernhard},
  volume = {1112},
  series = {Lecture Notes in Computer Science},
  pages = {251-256},
  note = {10.1007/3-540-61510-5_45},
  affiliation = {Max-Planck-Institut für biologische Kybernetik Tübingen Germany Tübingen
	Germany},
  isbn = {978-3-540-61510-1},
  keyword = {Computer Science},
  url = {http://dx.doi.org/10.1007/3-540-61510-5_45}
}

@INPROCEEDINGS{Bleiweiss2008,
  author = {Bleiweiss, Avi},
  title = {GPU accelerated pathfinding},
  booktitle = {GH '08: Proceedings of the 23rd ACM SIGGRAPH/EUROGRAPHICS symposium
	on Graphics hardware},
  year = {2008},
  pages = {65--74},
  address = {Aire-la-Ville, Switzerland, Switzerland},
  publisher = {Eurographics Association},
  abstract = {In the past few years the graphics programmable processor (GPU) has
	evolved into an increasingly convincing computational resource for
	non graphics applications. The GPU is especially well suited to address
	problem sets expressed as data parallel computation with the same
	program executed on many data elements concurrently. In pursuing
	a scalable navigation planning approach for many thousands of agents
	in crowded game scenes, developers became more attracted to decomposable
	movement algorithms that lend to explicit parallelism. Pathfinding
	is one key computational intelligence action in games that is typified
	by intense search over sparse graph data structures. This paper describes
	an efficient GPU implementation of parallel global pathfinding using
	the CUDA programming environment, and demonstrates GPU performance
	scale advantage in executing an inherently irregular and divergent
	algorithm.},
  isbn = {978-3-905674-09-5},
  location = {Sarajevo, Bosnia and Herzegovina},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@ARTICLE{Boada2004,
  author = {Boada, B. L. and Blanco, D. and Moreno, L.},
  title = {Symbolic Place Recognition in Voronoi-Based Maps by Using Hidden
	Markov Models},
  journal = {J. Intell. Robotics Syst.},
  year = {2004},
  volume = {39},
  pages = {173--197},
  number = {2},
  abstract = {This article presents a new algorithm to recognize natural distinctive
	places such as corridors, halls, narrowings, corridors with doors
	opening on the left side, etc., from indoor environments using Hidden
	Markov Models (HMM). HMM give a stochastic solution which can be
	used to make decisions on localization, navigation and path-planning.
	The environment is modeled as a topo-geometric map which combines
	topological and geometric information. This map is obtained from
	a Voronoi diagram using measurements of a laser telemeter. The characteristics
	of topo-geometric map (nodes, number of edges adjacent to nodes,
	slope of edges, etc.) are used to learn and to recognize the different
	places typical of indoor environments. This map can be used in order
	to resolve several problems in robotics such as localization, navigation
	and path-planning. Our method of place recognition is a fast and
	effective way for a robot to recognize typical places of indoor environments
	from a topo-geometric map.},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1023/B:JINT.0000015401.49928.a4},
  issn = {0921-0296},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.06.29}
}

@ARTICLE{bobrow_ijrr89,
  author = {J. E. Bobrow},
  title = {A direct minimization approach for obtaining the distance between
	convex polyhedra},
  journal = ijrr,
  year = {1989},
  volume = {8},
  pages = {65-76},
  number = {3},
  owner = {mihail},
  timestamp = {2012.01.27}
}

@ARTICLE{bohlin_01,
  author = {Bohlin, R.},
  title = {Path planning in practice; lazy evaluation on a multi-resolution
	grid},
  journal = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots
	\& Systems},
  year = {2001},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{bohlin_iros01,
  author = {R. Bohlin},
  title = {Path planning in practice; lazy evaluation on a multi-resolution
	grid},
  booktitle = iros,
  year = {2001}
}

@ARTICLE{bohlin_kavraki_00,
  author = {Bohlin, R. and Kavraki, L.},
  title = {Path planning using Lazy {PRM}},
  journal = {Proc. of the IEEE International Conference on Robotics \& Automation},
  year = {2000},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Bohringer2000,
  author = {Bohringer, K. F. and Donald, B. R. and Kavraki, L. E. and Lamiraux,
	F. },
  title = {Part orientation with one or two stable equilibria using programmable
	force fields},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {2000},
  volume = {16},
  pages = {157--170},
  number = {2},
  abstract = {Programmable force fields are a representation of a class of devices
	for distributed, nonprehensile manipulation for applications in parts
	feeding, sorting, positioning, and assembly. They generate force
	vector fields in which the parts move until they reach a stable equilibrium
	pose. Research has yielded open-loop strategies to uniquely position,
	orient, and sort parts. These strategies typically consist of several
	fields employed in sequence to achieve a desired final pose. The
	length of the sequence depends on the complexity of the part. We
	show that unique part poses can be achieved with just one field.
	First, we exhibit a single field that positions and orients any part
	(except certain symmetric parts) into two stable equilibrium poses.
	Then, we show that for any part there exists a field in which the
	part reaches a unique stable equilibrium pose (again, except for
	symmetric parts). Besides giving an optimal upper bound for unique
	parts positioning and orientation, our work gives further evidence
	that programmable force fields are a powerful tool for parts manipulation.
	Our second result also leads to the design of &ldquo;universal parts
	feeders&rdquo;, proving an earlier conjecture about their existence.
	We argue that universal parts feeders are relatively easy to build,
	and we report on extensive simulation results which indicate that
	these devices may work very well in practice. We believe that the
	results in this paper could be the basis for a new generation of
	efficient, open-loop, parallel parts feeders},
  doi = {10.1109/70.843172},
  issn = {1042-296X},
  keywords = {materials handling, stability, assembly, distributed nonprehensile
	manipulation, efficient open-loop parallel parts feeders, force vector
	fields, optimal upper bound, part orientation, positioning, programmable
	force fields, sorting, stable equilibria, universal parts feeders},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Boissonnat1992,
  author = {Boissonnat, J.-D. and Cerezo, A. and Leblond, J. },
  title = {Shortest paths of bounded curvature in the plane},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1992},
  pages = {2315--2320},
  month = may # { 12--14,},
  doi = {10.1109/ROBOT.1992.220117},
  owner = {Mihail},
  timestamp = {2010.01.20}
}

@INPROCEEDINGS{Boissonnat1996,
  author = {Boissonnat, Jean-Daniel and Lazard, Sylvain},
  title = {A polynomial-time algorithm for computing a shortest path of bounded
	curvature amidst moderate obstacles (extended abstract)},
  booktitle = {SCG '96: Proceedings of the twelfth annual symposium on Computational
	geometry},
  year = {1996},
  pages = {242--251},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/237218.237393},
  isbn = {0-89791-804-5},
  location = {Philadelphia, Pennsylvania, United States},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@ARTICLE{Booker89,
  author = {Lashon B. Booker and D.E. Goldberg and J.H. Holland},
  title = {Classifier systems and genetic algorithms},
  journal = aij,
  year = {1989},
  volume = {40},
  pages = {235-282},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Bourbakis2006,
  author = {Bourbakis, N. and Esposito, A. and Kavraki, D. },
  title = {Analysis of Invariant Meta-features for Learning and Understanding
	Disable People's Emotional Behavior Related to Their Health Conditions:
	A Case Study},
  booktitle = {Proc. Sixth IEEE Symposium on BioInformatics and BioEngineering BIBE
	2006},
  year = {2006},
  pages = {357--369},
  abstract = {"There are million individuals with disabilities with traumatic emotional
	experiences due to their health issues leading frustration and depression,
	where a major factor for it is their emotional behavior". Emotion
	is a topic that has received much attention during the last few years,
	both in the context of speech synthesis, image understanding as well
	in automatic speech recognition, interactive dialogues systems and
	wearable computing. There are few promising studies on the emotional
	behavior of people with disabilities. These studies are partial due
	to the lack Information technology and engineering (ITE) techniques
	that make available a deeper and large scale non-invasive analysis
	and evaluation of the disabled people emotional behavior in order
	to provide tools and support for helping them to overcome social
	and health barriers. A quantitative and qualitative study of emotional
	invariant meta-features to support the development of emotionally
	rich man-machine interfaces (interactive dialogue systems and intelligent
	avatars) for people with disabilities is the subject of this paper},
  doi = {10.1109/BIBE.2006.253301},
  keywords = {avatars, emotion recognition, information technology, interactive
	systems, medical computing, speech recognition, speech synthesis,
	automatic speech recognition, disable people, health barriers, human
	language, information technology and engineering techniques, intelligent
	avatars, interactive dialogues systems, invariant meta-features,
	man-machine interfaces, noninvasive analysis, social barriers, speech
	synthesis, traumatic emotional experiences, wearable computing},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Bourbakis2001,
  author = {Bourbakis, N. G. and Kavraki, D. },
  title = {An intelligent assistant for navigation of visually impaired people},
  booktitle = {Proc. IEEE 2nd International Symposium on Bioinformatics and Bioengineering
	Conference},
  year = {2001},
  pages = {230--235},
  abstract = {This paper presents the navigation methodology employed by an intelligent
	assistant (agent) for people with disabilities. In particular, the
	intelligent assistant, called Tyflos, would help a visually impaired
	user to be partially independent and able to walk and work in a 3D
	dynamic environment. The Tyflos system carries two vision cameras
	and captures images from the surrounding 3D environment, either by
	the user's command or in a continuous mode (video), then it converts
	these images into verbal descriptions for each image into a verbal
	communication with the user. In other words the system plays the
	role of human assistant, who describes to the user the 3D visual
	environment},
  doi = {10.1109/BIBE.2001.974434},
  keywords = {computer vision, handicapped aids, knowledge representation, navigation,
	software agents, stereo image processing, 3D dynamic environment,
	Tyflos, agent, image capture, intelligent assistant, navigation methodology,
	verbal descriptions, vision cameras, visually impaired people},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{BoutilierIJCAI99,
  author = {Craig Boutilier},
  title = {Sequential Optimality and Coordination in Multiagent Systems},
  booktitle = ijcai99,
  year = {1999},
  pages = {478-485},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Boyan94,
  author = {Boyan, Justin and Littman, Michael L.},
  title = {Packet routing in dynamically changing networks: A reinforcement
	learning approach},
  booktitle = nips,
  year = {1994},
  volume = {7},
  pages = {671--678},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{boyd_vandenberghe_04,
  title = {Convex Optimization},
  publisher = {Cambridge University Press},
  year = {2004},
  author = {S. Boyd and L. Vandenberghe},
  owner = {mihail},
  timestamp = {2012.01.26}
}

@BOOK{Braitenberg,
  title = {Vehicles: Experiments in Synthetic Psychology},
  publisher = {MIT Press},
  year = {1989},
  author = {Valentino Braitenberg},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{branicky_knepper_kuffner_08,
  author = {M.S. Branicky and R.A. Knepper and J. Kuffner},
  title = {Path and Trajectory Diversity: Theory and Algorithms},
  booktitle = icra,
  year = {2008},
  month = {May}
}

@ARTICLE{branicky_etal_01,
  author = {Branicky, M.S. and LaValle, S.M. and Olson, S. and Yang, L.},
  title = {Quasi-randomized path planning},
  journal = {Proc. of the International Conference on Robotics and Automation},
  year = {2001},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Branicky2008,
  author = {Branicky, M. S. and Knepper, R. A. and Kuffner, J. J.},
  title = {Path and trajectory diversity: Theory and algorithms},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2008},
  year = {2008},
  pages = {1359--1364},
  abstract = {We present heuristic algorithms for pruning large sets of candidate
	paths or trajectories down to smaller subsets that maintain desirable
	characteristics in terms of overall reachability and path length.
	Consider the example of a set of candidate paths in an environment
	that is the result of a forward search tree built over a set of actions
	or behaviors. The tree is precomputed and stored in memory to be
	used online to compute collision-free paths from the root of the
	tree to a particular goal node. In general, such a set of paths may
	be quite large, growing exponentially in the depth of the search
	tree. In practice, however, many of these paths may be close together
	and could be pruned without a loss to the overall problem of path-finding.
	The best such pruning for a given resulting tree size is the one
	that maximizes path diversity, which is quantified as the probability
	of the survival of paths, averaged over all possible obstacle environments.
	We formalize this notion and provide formulas for computing it exactly.
	We also present experimental results for two approximate algorithms
	for path set reduction that are efficient and yield desirable properties
	in terms of overall path diversity. The exact formulas and approximate
	algorithms generalize to the computation and maximization of spatio-temporal
	diversity for trajectories.},
  doi = {10.1109/ROBOT.2008.4543392},
  issn = {1050-4729},
  keywords = {approximation theory, collision avoidance, mobile robots, trees (mathematics),
	approximate algorithm, collision-free path, forward search tree,
	mobile robot, obstacle environment, path diversity, path set reduction,
	path-finding, probability, trajectory diversity},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@INPROCEEDINGS{brat_etal_aerospace06,
  author = {Guillaume Brat and Ewen Denney and Kimberley Farrell and Dimitra
	Giannakopoulou and Ari Jonsson and Jeremy Frank and Mark Boddy and
	Todd Carpenter and Tara Estlin and Mihail Pivtoraiko},
  title = {A Robust Compositional Architecture for Autonomous Systems},
  booktitle = {Proceedings of the IEEE Aerospace Conference},
  year = {2006},
  pages = {8pp.},
  abstract = {Space exploration applications can benefit greatly from autonomous
	systems. Great distances, limited communications and high costs make
	direct operations impossible while mandating operations reliability
	and efficiency beyond what traditional commanding can provide. Autonomous
	systems can improve reliability and enhance spacecraft capability
	significantly. However, there is reluctance to utilizing autonomous
	systems. In part, this is due to general hesitation about new technologies,
	but a more tangible concern is the reliability and predictability
	of autonomous software. 
	
	In this paper, we describe ongoing work aimed at increasing robustness
	and predictability of autonomous software, with the ultimate goal
	of building trust in such systems. The work combines state-of-the-art
	technologies and capabilities in autonomous systems with advanced
	validation and synthesis techniques. The focus of this paper is on
	the autonomous system architecture that has been defined, and on
	how it enables the application of validation techniques for resulting
	autonomous systems.},
  bib2html_pubtype = {Refereed Conferences},
  bib2html_rescat = {Other},
  doi = {10.1109/AERO.2006.1655802}
}

@ARTICLE{Bretl2006,
  author = {Bretl, Timothy},
  title = {Motion Planning of Multi-Limbed Robots Subject to Equilibrium Constraints:
	The Free-Climbing Robot Problem},
  journal = {Int. J. Rob. Res.},
  year = {2006},
  volume = {25},
  pages = {317--342},
  number = {4},
  abstract = {This paper addresses the problem of planning the motion of a multilimbed
	robot in order to "free-climb" vertical rock surfaces. Freeclimbing
	only relies on frictional contact with the surfaces rather than on
	special fixtures or tools like pitons. It requires strength, but
	more importantly it requires deliberate reasoning: not only must
	the robot decide how to adjust its posture to reach the next feature
	without falling, it must plan an entire sequence of steps, where
	each one might have future consequences. In this paper, this process
	of reasoning is broken into manageable pieces by decomposing a freeclimbing
	robot's configuration space into manifolds associated with each state
	of contact between the robot and its environment. A multistep planning
	framework is presented that decides which manifolds to explore by
	generating a candidate sequence of hand and foot placements first.
	A one-step planning algorithm is then described that explores individual
	manifolds quickly. This algorithm extends the probabilistic roadmap
	approach to better handle the interaction between static equilibrium
	and the topology of closed kinematic chains. It is assumed throughout
	this paper that a set of potential contact points has been presurveyed.
	Validation with real hardware was done with a four-limbed robot called
	LEMUR (developed by the Mechanical and Robotic Technologies Group
	at NASA-JPL). Using the planner presented in this paper, LEMUR free-climbed
	an indoor, near-vertical surface covered with artificial rock features.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364906063979},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.06.29}
}

@ARTICLE{brock_khatib_02,
  author = {Oliver Brock and Oussama Khatib},
  title = {{E}lastic {S}trips: A Framework for Motion Generation in Human Environments},
  journal = {International Journal of Robotics Research},
  year = {2002},
  volume = {21},
  pages = {1031-1052},
  number = {12},
  month = {12},
  owner = {Mihail},
  timestamp = {2010.04.26}
}

@INPROCEEDINGS{Brock2002,
  author = {Brock, O. and Khatib, O. and Viji, S. },
  title = {Task-consistent obstacle avoidance and motion behavior for mobile
	manipulation},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'02},
  year = {2002},
  volume = {1},
  pages = {388--393},
  month = may # { 11--15,},
  doi = {10.1109/ROBOT.2002.1013391},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@TECHREPORT{Brooks87,
  author = {Rodney A. Brooks and Anita M. Flynn and Thomas Marill},
  title = {Self Calibration of Motion and Stereo Vision for Mobile Robot Navigation},
  institution = {{MIT} Artificial Intelligence Laboratory},
  year = {1987},
  number = {AIM-984},
  address = {Cambridge, Massachusetts},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Brown00,
  author = {Brown, Timothy X.},
  title = {Low Power Wireless Communication via Reinforcement Learning},
  booktitle = nips,
  year = {1999},
  volume = {12},
  pages = {893-9},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Brown99,
  author = {Brown, Timothy X. and Tong, H. and Singh, Satinder P.},
  title = {Optimizing admission control while ensuring quality of service in
	multimedia networks via reinforcement learning},
  booktitle = nips,
  year = {1999},
  volume = {12},
  pages = {982-8},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Brumitt1998,
  author = {Brumitt, B. L. and Stentz, A. },
  title = {GRAMMPS: a generalized mission planner for multiple mobile robots
	in unstructured environments},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1998},
  volume = {2},
  pages = {1564--1571},
  month = may # { 16--20,},
  doi = {10.1109/ROBOT.1998.677360},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Brumitt1996,
  author = {Brumitt, B. L. and Stentz, A. },
  title = {Dynamic mission planning for multiple mobile robots},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1996},
  volume = {3},
  pages = {2396--2401},
  month = apr # { 22--28,},
  doi = {10.1109/ROBOT.1996.506522},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{,
  author = {Buchli, J. and Kalakrishnan, M. and Mistry, M. and Pastor, P. and
	Schaal, S. },
  title = {Compliant quadruped locomotion over rough terrain},
  booktitle = {Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems IROS 2009},
  year = {2009},
  pages = {814--820},
  abstract = {Many critical elements for statically stable walking for legged robots
	have been known for a long time, including stability criteria based
	on support polygons, good foothold selection, recovery strategies
	to name a few. All these criteria have to be accounted for in the
	planning as well as the control phase. Most legged robots usually
	employ high gain position control, which means that it is crucially
	important that the planned reference trajectories are a good match
	for the actual terrain, and that tracking is accurate. Such an approach
	leads to conservative controllers, i.e. relatively low speed, ground
	speed matching, etc. Not surprisingly such controllers are not very
	robust - they are not suited for the real world use outside of the
	laboratory where the knowledge of the world is limited and error
	prone. Thus, to achieve robust robotic locomotion in the archetypical
	domain of legged systems, namely complex rough terrain, where the
	size of the obstacles are in the order of leg length, additional
	elements are required. A possible solution to improve the robustness
	of legged locomotion is to maximize the compliance of the controller.
	While compliance is trivially achieved by reduced feedback gains,
	for terrain requiring precise foot placement (e.g. climbing rocks,
	walking over pegs or cracks) compliance cannot be introduced at the
	cost of inferior tracking. Thus, model-based control and - in contrast
	to passive dynamic walkers - active balance control is required.
	To achieve these objectives, in this paper we add two crucial elements
	to legged locomotion, i.e., floating-base inverse dynamics control
	and predictive force control, and we show that these elements increase
	robustness in face of unknown and unanticipated perturbations (e.g.
	obstacles). Furthermore, we introduce a novel line-based COG trajectory
	planner, which yields a simpler algorithm than traditional polygon
	based methods and creates the appropriate input to our control system.We
	show results from bot- h simulation and real world of a robotic dog
	walking over non-perceived obstacles and rocky terrain. The results
	prove the effectivity of the inverse dynamics/force controller. The
	presented results show that we have all elements needed for robust
	all-terrain locomotion, which should also generalize to other legged
	systems, e.g., humanoid robots.},
  doi = {10.1109/IROS.2009.5354681},
  owner = {mihail},
  timestamp = {2012.01.03}
}

@BOOK{Bucklew90,
  title = {Large Deviation Techniques in Decision, Simulation, and Estimation},
  publisher = {John Wiley},
  year = {1990},
  author = {J. Bucklew},
  address = {New York, NY},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Burns2007,
  author = {Burns, B. and Brock, O. },
  title = {Sampling-Based Motion Planning With Sensing Uncertainty},
  booktitle = {Proc. IEEE Int Robotics and Automation Conf},
  year = {2007},
  pages = {3313--3318},
  abstract = {Sampling-based algorithms have dramatically improved the state of
	the art in robotic motion planning. However, they make restrictive
	assumptions that limit their applicability to manipulators operating
	in uncontrolled and partially unknown environments. This work describes
	how one of these assumptions - that the world is perfectly known
	- can be removed. We propose a utility-guided roadmap planner that
	incorporates uncertainty directly into the planning process. This
	enables the planner to identify configuration space paths that minimize
	uncertainty and, when necessary, efficiently pursue further exploration
	through utility-guided sensing of the workspace. Experimental results
	indicate that our utility-guided approach results in a robust planner
	even in the presence of significant error in its perception of the
	workspace. Furthermore, we show how the planner is able to reduce
	the amount of required sensing to compute a successful plan},
  doi = {10.1109/ROBOT.2007.363984},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Burns2007a,
  author = {Burns, B. and Brock, O. },
  title = {Single-Query Motion Planning with Utility-Guided Random Trees},
  booktitle = {Proc. IEEE Int Robotics and Automation Conf},
  year = {2007},
  pages = {3307--3312},
  abstract = {Randomly expanding trees are very effective in exploring high-dimensional
	spaces. Consequently, they are a powerful algorithmic approach to
	sampling-based single-query motion planning. As the dimensionality
	of the configuration space increases, however, the performance of
	tree-based planners that use uniform expansion degrades. To address
	this challenge, we present a utility-guided algorithm for the online
	adaptation of the random tree expansion strategy. This algorithm
	guides expansion towards regions of maximum utility based on local
	characteristics of state space. To guide exploration, the algorithm
	adjusts the parameters that control random tree expansion in response
	to state space information obtained during the planning process.
	We present experimental results to demonstrate that the resulting
	single-query planner is computationally more efficient and more robust
	than previous planners in challenging artificial and real-world environments.},
  doi = {10.1109/ROBOT.2007.363983},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Burns2005a,
  author = {Burns, B. and Brock, O. },
  title = {Single-Query Entropy-Guided Path Planning},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA 2005},
  year = {2005},
  pages = {2124--2129},
  abstract = {Efficient motion planning for robots with many degrees of freedom
	requires the exploration of a large configuration space. Sampling
	based motion planners perform approximate exploration of the configuration
	space in order to render the problem tractable. Each sample of configuration
	space as an opportunity to gain information about that configuration
	space. A formal definition of information gain can be used to guide
	a motion planner to achieve maximal progress toward the discovery
	of a path. We call such a motion planner entropy-guided since entropy
	reduction is synonymous with information gain. In the following we
	describe a single-query entropy-guided motion planner which uses
	a formal definition of information gain to focus its efforts on the
	acquisition of a single path from start to goal locations. Experimental
	evidence indicates that this approach can outperform existing single-query
	techniques.},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Burns2005b,
  author = {Burns, B. and Brock, O. },
  title = {Sampling-Based Motion Planning Using Predictive Models},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA 2005},
  year = {2005},
  pages = {3120--3125},
  abstract = {Robotic motion planning requires configuration space exploration.
	In high-dimensional configuration spaces, a complete exploration
	is computationally intractable. Practical motion planning algorithms
	for such high-dimensional spaces must expend computational resources
	in proportion to the local complexity of configuration space regions.
	We propose a novel motion planning approach that addresses this problem
	by building an incremental, approximate model of configuration space.
	The information contained in this model is used to direct computational
	resources to difficult regions, effectively addressing the narrow
	passage problem by adapting the sampling density to the complexity
	of that region. In addition, the expressiveness of the model permits
	predictive edge validations, which are performed based on the information
	contained in the model rather then by invoking a collision checker.
	Experimental results show that the exploitation of the information
	obtained through sampling and represented in a predictive model results
	in a significant decrease in the computational cost of motion planning.},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{burns_brock_rss05,
  author = {Brendan Burns and Oliver Brock},
  title = {Toward Optimal Configuration Space Sampling},
  booktitle = {Proceedings of the Robotics Science and Systems},
  year = {2005},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Burns2003,
  author = {Burns, B. and Brock, O. },
  title = {Information theoretic construction of probabilistic roadmaps},
  booktitle = {Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2003)},
  year = {2003},
  volume = {1},
  pages = {650--655},
  abstract = {Probabilistic roadmaps (PRM) are a randomized tool for path planning
	in configuration spaces where exhaustive search is computationally
	intractable. It has been noted that the PRM algorithm's computational
	cost can be greatly reduced by reducing the number of samples necessary
	to construct a successful roadmap. We examine the information theoretic
	properties of roadmap construction and propose sampling techniques
	based upon maximizing the information gain of the roadmap for each
	configuration sampled. Instead of sampling algorithms which are meant
	to understand the entirety of configuration space, our sampling is
	focused on finding configurations which facilitate roadmap construction.
	We show empirically that these approaches can lead to a significant
	reduction in the number of samples necessary to construct a useful
	roadmap.},
  doi = {10.1109/IROS.2003.1250703},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@ARTICLE{burridge_rizzi_koditschek_ijrr99,
  author = {R. R. Burridge and A. A. Rizzi and D. E. Koditschek},
  title = {Sequential Composition of Dynamically Dexterous Robot Behaviors},
  journal = {International Journal of Robotics Research},
  year = {1999},
  volume = {18},
  pages = {534-555},
  number = {6},
  owner = {mihail},
  timestamp = {2012.01.03}
}

@INPROCEEDINGS{cambon_gravot_alami_ecai04,
  author = {S. Cambon and F. Gravot and R. Alami},
  title = {A robot task planner that merges symbolic and geometric reasonning},
  booktitle = {ECAI},
  year = {2004},
  owner = {Mihail},
  timestamp = {2010.03.10}
}

@ARTICLE{Campbell2008,
  author = {Campbell, Jason and Pillai, Padmanabhan},
  title = {Collective Actuation},
  journal = {Int. J. Rob. Res.},
  year = {2008},
  volume = {27},
  pages = {299--314},
  number = {3-4},
  abstract = {Modular robot designers confront inherent tradeoffs between size and
	power. Smaller, more numerous modules increase the adaptability of
	a given volume or mass of robot, allowing the aggregate robot to
	take on a wider variety of configurations, but do so at a cost of
	reducing the power and complexity budget of each module. Fewer, larger
	modules can incorporate more powerful actuators and stronger hinges,
	but at a cost of overspecializing the resulting robot in favor of
	corresponding uses. In this paper we describe a technique for coordinating
	the efforts of many tiny modules to achieve forces and movements
	larger than those possible for individual modules. In a broad sense,
	our work aims to make actuator capacity and range at least partly
	fungible by algorithm design and ensemble topology, rather than being
	immutable properties of a particular module design. An important
	aspect of this technique is its ability to bend complex and large-scale
	structures and to realize the equivalent of large-scale joints. By
	enabling scalable joints, and the #x201C;muscles#x201D; that could
	actuate larger structures, our work makes it more likely that modular
	robot ensembles can successfully be scaled up in number and down
	in size.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364907085561},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.02.05}
}

@ARTICLE{canny_rege_reif_91,
  author = {Canny, J. and Rege, A. and Reif, J.},
  title = {An exact algorithm for kinodynamic planning in the plane},
  journal = {Discrete and Computational Geometry},
  year = {1991},
  volume = {6},
  pages = {461-484}
}

@INPROCEEDINGS{Canny1990,
  author = {Canny, John and Rege, Ashutosh and Reif, John},
  title = {An exact algorithm for kinodynamic planning in the plane},
  booktitle = {SCG '90: Proceedings of the sixth annual symposium on Computational
	geometry},
  year = {1990},
  pages = {271--280},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/98524.98584},
  isbn = {0-89791-362-0},
  location = {Berkley, California, United States},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@INPROCEEDINGS{Canny1988,
  author = {Canny, J. and Reif, J. and Donald, B. and Xavier, P.},
  title = {On the complexity of kinodynamic planning},
  booktitle = {Proc. th Annual Symp. Foundations of Computer Science},
  year = {1988},
  pages = {306--316},
  doi = {10.1109/SFCS.1988.21947},
  owner = {Mihail},
  timestamp = {2010.06.28}
}

@BOOK{canny_88,
  title = {The Complexity of Robot Motion Planning},
  publisher = {MIT Press, Cambridge, MA},
  year = {1988},
  author = {Canny, J. F.},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@PHDTHESIS{Carlstrom00,
  author = {Carlstrom, Jakob},
  title = {Reinforcement Learning for Admission Control and Routing},
  school = {Uppsala University},
  year = {2000},
  address = {Uppsala, Sweden},
  __markedentry = {[mihail]},
  optmonth = {May},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{docarmo_76,
  title = {Differential Geometry of Curves and Surfaces},
  publisher = {Prentice-Hall},
  year = {1976},
  author = {do Carmo, Manfredo P.},
  owner = {mihail},
  timestamp = {2012.01.05}
}

@INPROCEEDINGS{Caro98,
  author = {G. Di Caro and M. Dorigo},
  title = {Ant colonies for Adaptive Routing in Packet-switched Communications
	Networks},
  booktitle = {Proceedings of the Fifth International Conference on Parallel Problem
	Solving From Nature},
  year = {1998},
  month = {September},
  __markedentry = {[mihail]},
  location = {Amsterdam, NL},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{carriker_khosla_krogh_91,
  author = {Wayne F. Carriker and Pradeep K. Khosla and Bruce H. Krogh},
  title = {Path Planning for Mobile Manipulators for Multiple Task Execution},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {1991},
  volume = {7},
  pages = {403-408},
  number = {3},
  owner = {Mihail},
  timestamp = {2010.03.09}
}

@INPROCEEDINGS{Carsten2006,
  author = {Carsten, J. and Ferguson, D. and Stentz, A. },
  title = {3D Field D: Improved Path Planning and Replanning in Three Dimensions},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems},
  year = {2006},
  pages = {3381--3386},
  month = oct # { 9--15,},
  doi = {10.1109/IROS.2006.282516},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Carsten2007,
  author = {Carsten, J. and Rankin, A. and Ferguson, D. and Stentz, A. },
  title = {Global Path Planning on Board the Mars Exploration Rovers},
  booktitle = {Proc. IEEE Aerospace Conference},
  year = {2007},
  pages = {1--11},
  month = mar # { 3--10,},
  doi = {10.1109/AERO.2007.352683},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@PHDTHESIS{casal_01,
  author = {Casal, A.},
  title = {Reconfiguration planning for modular self-reconfigurable robots},
  school = {Aeronautics and Astronautics Dept., Stanford U.},
  year = {2001}
}

@PHDTHESIS{CassandraPhD,
  author = {Anthony R. Cassandra},
  title = {Exact and Approximate Algorithms for Partially Observable {Markov}
	Decision Processes},
  school = {Brown University},
  year = {1998},
  address = {Providence, RI},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{CassandraAAAI94,
  author = {Anthony R. Cassandra and Leslie Pack Kaelbling and Michael L. Littman},
  title = {Acting Optimally in Partially Observable Stochastic Domains},
  booktitle = aaai94,
  year = {1994},
  address = {Seattle, WA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{CesaBianchi01,
  author = {Nicol{\`o} Cesa-Bianchi and G{\'a}bor Lugosi},
  title = {Worst-case Bounds for the Logarithmic Loss of Predictors},
  journal = mlj,
  year = {2001},
  volume = {43},
  pages = {247-264},
  number = {3},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/cesa-bianchi99worstcase.html}
}

@INPROCEEDINGS{CesaBianchiCOLT99,
  author = {Nicol{\`o} Cesa-Bianchi and G{\'a}bor Lugosi},
  title = {Minimax regret under log loss for general classes of experts},
  booktitle = colt99,
  year = {1999},
  pages = {12--18},
  address = {New York, NY},
  publisher = {ACM Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/cesa-bianchi99minimax.html}
}

@ARTICLE{Cevher2009,
  author = {Cevher, Volkan and Kaplan, Lance M.},
  title = {Acoustic sensor network design for position estimation},
  journal = {ACM Trans. Sen. Netw.},
  year = {2009},
  volume = {5},
  pages = {1--28},
  number = {3},
  abstract = {In this article, we develop tractable mathematical models and approximate
	solution algorithms for a class of integer optimization problems
	with probabilistic and deterministic constraints, with applications
	to the design of distributed sensor networks that have limited connectivity.
	For a given deployment region size, we calculate the Pareto frontier
	of the sensor network utility at the desired probabilities for d-connectivity
	and k-coverage. As a result of our analysis, we determine (1) the
	number of sensors of different types to deploy from a sensor pool,
	which offers a cost vs. performance trade-off for each type of sensor,
	(2) the minimum required radio transmission ranges of the sensors
	to ensure connectivity, and (3) the lifetime of the sensor network.
	For generality, we consider randomly deployed sensor networks and
	formulate constrained optimization technique to obtain the localization
	performance. The approach is guided and validated using an unattended
	acoustic sensor network design. Finally, approximations of the complete
	statistical characterization of the acoustic sensor networks are
	given, which enable average network performance predictions of any
	combination of acoustic sensors.},
  address = {New York, NY, USA},
  doi = {http://doi.acm.org/10.1145/1525856.1525859},
  issn = {1550-4859},
  owner = {Mihail},
  publisher = {ACM},
  timestamp = {2010.03.03}
}

@ARTICLE{Challou2003,
  author = {Challou, Daniel J. and Gini, Maria and Kumar, Vipin and Karypis,
	George},
  title = {Predicting the Performance of Randomized Parallel Search: An Application
	to Robot Motion Planning},
  journal = {J. Intell. Robotics Syst.},
  year = {2003},
  volume = {38},
  pages = {31--53},
  number = {1},
  abstract = {In this paper we discuss methods for predicting the performance of
	any formulation of randomized parallel search, and propose a new
	performance prediction method that is based on obtaining an accurate
	estimate of the k-processor run-time distribution. We show that the
	k-processor prediction method delivers accurate performance predictions
	and demonstrate the validity of our analysis on several robot motion
	planning problems.},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1023/A:1026283627113},
  issn = {0921-0296},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{Chandrababu2009,
  author = {Chandrababu, S. and Christensen, H. I. },
  title = {Adding diagnostics to intelligent robot systems},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2009},
  year = {2009},
  pages = {3961--3967},
  month = oct # { 10--15,},
  doi = {10.1109/IROS.2009.5354626},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@ARTICLE{Chaudhuri2009,
  author = {Chaudhuri, Siddhartha and Koltun, Vladlen},
  title = {Smoothed analysis of probabilistic roadmaps},
  journal = {Comput. Geom. Theory Appl.},
  year = {2009},
  volume = {42},
  pages = {731--747},
  number = {8},
  abstract = {The probabilistic roadmap algorithm is a leading heuristic for robot
	motion planning. It is extremely efficient in practice, yet its worst
	case convergence time is unbounded as a function of the input's combinatorial
	complexity. We prove a smoothed polynomial upper bound on the number
	of samples required to produce an accurate probabilistic roadmap,
	and thus on the running time of the algorithm, in an environment
	of simplices. This sheds light on its widespread empirical success.},
  address = {Amsterdam, The Netherlands, The Netherlands},
  doi = {http://dx.doi.org/10.1016/j.comgeo.2008.10.005},
  issn = {0925-7721},
  owner = {Mihail},
  publisher = {Elsevier Science Publishers B. V.},
  timestamp = {2010.07.05}
}

@PHDTHESIS{ChawlaPhD,
  author = {Jay P. Chawla},
  title = {Optimal Risk Sensitive Control of Semi-{Markov} Decision Processes},
  school = {The University of Maryland},
  year = {2000},
  address = {Baltimore, MD},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Chazelle1994,
  author = {Chazelle, Bernard},
  title = {Computational geometry: a retrospective},
  booktitle = {STOC '94: Proceedings of the twenty-sixth annual ACM symposium on
	Theory of computing},
  year = {1994},
  pages = {75--94},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/195058.195110},
  isbn = {0-89791-663-8},
  location = {Montreal, Quebec, Canada},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@ARTICLE{chen_zalzala_jrs97,
  author = {Mingwu Chen and Ali M.S. Zalzala},
  title = {A genetic approach to motion planning of redundant mobile manipulator
	systems considering safety and configuration},
  journal = {Journal of Robotics Systems},
  year = {1997},
  volume = {14},
  pages = {529-544},
  number = {7},
  owner = {Mihail},
  timestamp = {2010.03.07}
}

@INPROCEEDINGS{Chen1993,
  author = {Chen, Yui-Bin and Ierardi, Doug},
  title = {Optimal motion planning for a rod in the plane subject to velocity
	constraints},
  booktitle = {SCG '93: Proceedings of the ninth annual symposium on Computational
	geometry},
  year = {1993},
  pages = {143--152},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {Previous results for finding optimal motions for a rod/ladder concentrated
	on the path planning problems. In this paper, we focus on the optimal
	trajectory planning problems and provide an explicit solution to
	find the shortest time trajectory for an ideal rod in the plane with
	velocity constraints.},
  doi = {http://doi.acm.org/10.1145/160985.161012},
  isbn = {0-89791-582-8},
  location = {San Diego, California, United States},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@PHDTHESIS{cheng_05,
  author = {Cheng, P.},
  title = {Sampling-Based Motion Planning with Differential Constraints},
  school = {University of Illinois},
  year = {2005},
  address = {Urbana, IL},
  month = {August}
}

@ARTICLE{,
  author = {Peng Cheng and Frazzoli, E. and LaValle, S. },
  title = {Improving the Performance of Sampling-Based Motion Planning With
	Symmetry-Based Gap Reduction},
  journal = IEEE_J_RO,
  year = {2008},
  volume = {24},
  pages = {488--494},
  number = {2},
  abstract = {Sampling-based nonholonomic and kinodynamic planning iteratively constructs
	solutions with sampled controls. A constructed trajectory is returned
	as an acceptable solution if its ldquogaps,rdquo including discontinuities
	within the trajectory and mismatches between the terminal and goal
	states, are within a given gap tolerance. For a given coarseness
	in the sampling of the control space, finding a trajectory with a
	small gap tolerance might be either impossible or extremely expensive.
	In this paper, we propose an efficient trajectory perturbation method,
	which complements existing steering and perturbation methods, enabling
	these sampling-based algorithms to quickly obtain solutions by reducing
	large gaps in constructed trajectories. Our method uses system symmetry,
	e.g., invariance of dynamics with respect to certain state transformations,
	to achieve efficient gap reduction by evaluating trajectory final
	state with a constant-time operation, and, naturally, generating
	the admissible perturbed trajectories. Simulation results demonstrate
	dramatic performance improvement for unidirectional, bidirectional,
	and PRM-based sampling-based algorithms with the proposed enhancement
	with respect to their basic counterparts on different systems: one
	with the second-order dynamics, one with nonholonomic constraints,
	and one with two different modes.},
  doi = {10.1109/TRO.2007.913993},
  owner = {mihail},
  timestamp = {2012.01.13}
}

@INPROCEEDINGS{,
  author = {Peng Cheng and Frazzoli, E. and LaValle, S. M. },
  title = {Improving the performance of sampling-based planners by using a symmetry-exploiting
	gap reduction algorithm},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA '04},
  year = {2004},
  volume = {5},
  pages = {4362--4368},
  abstract = {Although sampling-based planning algorithms have been extensively
	used to approximately solve motion planning problems with differential
	constraints, gaps usually appear in their solution trajectories due
	to various factors. Higher precision may be requested, but as we
	show in this paper, this dramatically increases the computational
	cost. In practice, this could mean that a solution would not be found
	in a reasonable amount of time. In this paper, we substantially improve
	the performance of an RRT-based algorithm by planning low precision
	solutions, and then refining their quality by employing a gap reduction
	technique that exploits group symmetries of the system to avoid costly
	numerical integrations. This technique also allows PRMs to be extended
	to problems with differential constraints, even when no high-quality
	steering method exists.},
  doi = {10.1109/ROBOT.2004.1302404},
  owner = {mihail},
  timestamp = {2012.01.13}
}

@INPROCEEDINGS{,
  author = {Peng Cheng and Frazzoli, E. and LaValle, S. M. },
  title = {Exploiting group symmetries to improve precision in kinodynamic and
	nonholonomic planning},
  booktitle = {Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2003)},
  year = {2003},
  volume = {1},
  pages = {631--636},
  abstract = {We address the problem of eliminating gaps in paths that are constructed
	by some nonholonomic and kinodynamic motion planning algorithms.
	In many of these algorithms, control inputs at each planning step
	are chosen from a finite set, obtained from discretization of the
	available control set. While this approach is attractive for computational
	reasons, it can generate gaps, or discontinuities, either between
	path segments or between the final state and the desired goal. For
	the purpose of reducing gaps, the original control set and continuous
	time interval can be utilized, and perturbations may be applied to
	incrementally optimize the gap error while respecting collision constraints.
	By exploiting Lie group symmetries, which emerge in a broad class
	of robot systems, we are able to avoid costly numerical integrations
	that usually occur in each step of gradient-based optimization techniques.
	It is hoped that the approach can ultimately lead to faster planning
	algorithms by allowing coarser discretizations of time and the available
	input set, with the understanding that later refinements can be made
	efficiently.},
  doi = {10.1109/IROS.2003.1250700},
  owner = {mihail},
  timestamp = {2012.01.13}
}

@INPROCEEDINGS{cheng_lavalle_icra02,
  author = {Peng Cheng and LaValle, S. M. },
  title = {Resolution complete rapidly-exploring random trees},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation},
  year = {2002},
  volume = {1},
  pages = {267--272},
  abstract = {Trajectory design for high-dimensional systems with nonconvex constraints
	has considerable success recently; however, the resolution completeness
	analysis for various methods is insufficient. In this paper, based
	on Lipschitz condition and the accessibility graph, conditions for
	resolution completeness are derived. By combining the systematic
	search with randomized technique, a randomized planner is transformed
	to be a deterministic resolution complete planner, which shows reliable
	performance in the simulation.},
  doi = {10.1109/ROBOT.2002.1013372},
  owner = {mihail},
  timestamp = {2012.01.13}
}

@INPROCEEDINGS{,
  author = {Peng Cheng and LaValle, S. M. },
  title = {Reducing metric sensitivity in randomized trajectory design},
  booktitle = {Proc. IEEE/RSJ Int Intelligent Robots and Systems Conf},
  year = {2001},
  volume = {1},
  pages = {43--48},
  abstract = {This paper addresses the trajectory design for generic problems that
	involve: (1) complicated global constraints that include nonconvex
	obstacles, (2) nonlinear equations of motion that involve substantial
	drift due to momentum, and (3) a high-dimensional state space. Our
	approach to these challenging problems is to develop randomized planning
	algorithms based on rapidly-exploring random trees (RRTs). RRTs use
	metric-induced heuristics to conduct a greedy exploration of the
	state space; however, performance substantially degrades when the
	chosen metric does not adequately reflect the true cost-to-go. In
	this paper, we present a version of the RRT that refines its exploration
	strategy in the presence of a poor metric. Experiments on problems
	in vehicle dynamics and spacecraft navigation indicate substantial
	performance improvement over existing techniques},
  doi = {10.1109/IROS.2001.973334},
  owner = {mihail},
  timestamp = {2012.01.13}
}

@INPROCEEDINGS{cherif_99,
  author = {Cherif, M.},
  title = {Kinodynamic motion planning for all-terrain wheeled vehicles},
  booktitle = {Proc. of the IEEE International Conference on Robotics \& Automation},
  year = {1999}
}

@ARTICLE{cherif_99b,
  author = {Cherif, M.},
  title = {Motion planning for all-terrain vehicles: physical modeling approach
	for coping with dynamic and contact interaction constraints},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {1999}
}

@ARTICLE{Chhabra2008,
  author = {Chhabra, Manu and Jacobs, Robert A.},
  title = {Learning to Combine Motor Primitives Via Greedy Additive Regression},
  journal = {J. Mach. Learn. Res.},
  year = {2008},
  volume = {9},
  pages = {1535--1558},
  abstract = {The computational complexities arising in motor control can be ameliorated
	through the use of a library of motor synergies. We present a new
	model, referred to as the Greedy Additive Regression (GAR) model,
	for learning a library of torque sequences, and for learning the
	coefficients of a linear combination of sequences minimizing a cost
	function. From the perspective of numerical optimization, the GAR
	model is interesting because it creates a library of "local features"---each
	sequence in the library is a solution to a single training task---and
	learns to combine these sequences using a local optimization procedure,
	namely, additive regression. We speculate that learners with local
	representational primitives and local optimization procedures will
	show good performance on nonlinear tasks. The GAR model is also interesting
	from the perspective of motor control because it outperforms several
	competing models. Results using a simulated two-joint arm suggest
	that the GAR model consistently shows excellent performance in the
	sense that it rapidly learns to perform novel, complex motor tasks.
	Moreover, its library is overcomplete and sparse, meaning that only
	a small fraction of the stored torque sequences are used when learning
	a new movement. The library is also robust in the sense that, after
	an initial training period, nearly all novel movements can be learned
	as additive combinations of sequences in the library, and in the
	sense that it shows good generalization when an arm's dynamics are
	altered between training and test conditions, such as when a payload
	is added to the arm. Lastly, the GAR model works well regardless
	of whether motor tasks are specified in joint space or Cartesian
	space. We conclude that learning techniques using local primitives
	and optimization procedures are viable and potentially important
	methods for motor control and possibly other domains, and that these
	techniques deserve further examination by the artificial intelligence
	and cognitive science communities.},
  issn = {1532-4435},
  owner = {Mihail},
  publisher = {JMLR.org},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{,
  author = {Chitta, S. and Cohen, B. and Likhachev, M. },
  title = {Planning for autonomous door opening with a mobile manipulator},
  booktitle = {Proc. IEEE Int Robotics and Automation (ICRA) Conf},
  year = {2010},
  pages = {1799--1806},
  abstract = {Computing a motion that enables a mobile manipulator to open a door
	is challenging because it requires tight coordination between the
	motions of the arm and the base. Hard-coding the motion, on the other
	hand, is infeasible since doors vary widely in their sizes and types,
	some doors are opened by pulling and others by pushing, and indoor
	spaces often contain obstacles that limit the freedom of the mobile
	manipulator and the degree to which the doors open up. In this paper,
	we show how to overcome the high-dimensionality of the planning problem
	by identifying a graph-based representation that is small enough
	for efficient planning yet rich enough to contain feasible motions
	that open doors. The use of graph search-based motion planning enables
	us to handle consistently the wide variance of conditions under which
	doors need to be open. We demonstrate our approach on the PR2 robot
	- a mobile manipulator with an omnidirectional base and a 7 degree
	of freedom arm. The robot was successful in opening a variety of
	doors both by pulling and pushing.},
  doi = {10.1109/ROBOT.2010.5509475},
  owner = {mihail},
  timestamp = {2012.01.13}
}

@ARTICLE{Choi2003,
  author = {Choi, Min Gyu and Lee, Jehee and Shin, Sung Yong},
  title = {Planning biped locomotion using motion capture data and probabilistic
	roadmaps},
  journal = {ACM Trans. Graph.},
  year = {2003},
  volume = {22},
  pages = {182--203},
  number = {2},
  abstract = {Typical high-level directives for locomotion of human-like characters
	are useful for interactive games and simulations as well as for off-line
	production animation. In this paper, we present a new scheme for
	planning natural-looking locomotion of a biped figure to facilitate
	rapid motion prototyping and task-level motion generation. Given
	start and goal positions in a virtual environment, our scheme gives
	a sequence of motions to move from the start to the goal using a
	set of live-captured motion clips. Based on a novel combination of
	probabilistic path planning and hierarchical displacement mapping,
	our scheme consists of three parts: roadmap construction, roadmap
	search, and motion generation. We randomly sample a set of valid
	footholds of the biped figure from the environment to construct a
	directed graph, called a roadmap, that guides the locomotion of the
	figure. Every edge of the roadmap is associated with a live-captured
	motion clip. Augmenting the roadmap with a posture transition graph,
	we traverse it to obtain the sequence of input motion clips and that
	of target footprints. We finally adapt the motion sequence to the
	constraints specified by the footprint sequence to generate a desired
	locomotion.},
  address = {New York, NY, USA},
  doi = {http://doi.acm.org/10.1145/636886.636889},
  issn = {0730-0301},
  owner = {Mihail},
  publisher = {ACM},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{Christensen2008,
  author = {Christensen, H. I. and Case, P. },
  title = {Mobile manipulation for everyday environments},
  booktitle = {Proc. International Conference on Control, Automation and Systems
	ICCAS 2008},
  year = {2008},
  pages = {xlii--xlvi},
  abstract = {Robots are gradually being deployed for everyday environments, that
	is environments with no or very limited engineering taking place
	before deployment of the system. As manipulators and mobile platforms
	come together to deliver truly ubiquitous functionality the number
	of possible applications open up. The design of such systems require
	careful design of methods for navigation in dynamic environments,
	posture control, object recognition, visual servoing, grasp planning
	and integration. In this presentation a system for mobile manipulation
	in everyday environments will be discussed. The general design of
	the system will be outlined and the different component systems will
	be presented with a discussion of the alternatives for successful
	performance. Results from a real demonstrator system will also be
	presented to illustrate performance. Finally a number of challenges
	for the future in terms of basic performance, transfer of results
	and deployment will be presented.},
  doi = {10.1109/ICCAS.2008.4694704},
  keywords = {control system synthesis, manipulators, mobile robots, position control,
	robot vision, visual servoing, grasp planning, mobile manipulation,
	object recognition, posture control, real demonstrator system, ubiquitous
	functionality, visual servoing, Grasping, Integration, Manipulation,
	Mapping, Mobile Manipulation, Robotics},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{chu_chung_iros00,
  author = {Gil Whoan Chu and Myung Jin Chung},
  title = {Selection of an optimal camera position using visibility and manipulability
	measures for an active camera system},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent
	Robots and Systems},
  year = {2000},
  pages = {429 -434},
  owner = {Mihail},
  timestamp = {2010.03.03}
}

@ARTICLE{Mansour95,
  author = {I. Cidon and S. Kutten and Y. Mansour and D. Peleg },
  title = {Greedy packet scheduling},
  journal = SIAM_J_Comp,
  year = {1995},
  volume = {24},
  pages = {148-157},
  number = {1},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Boutilier97,
  author = {Caroline Claus and Craig Boutilier},
  title = {The Dynamics of Reinforcement Learning in Cooperative Multiagent
	Systems},
  booktitle = {Proceedings of the Tenth Innovative Applications of Artificial Intelligence
	Conference},
  year = {1998},
  pages = {746-752},
  address = {Madison, WI},
  month = {July},
  __markedentry = {[mihail]},
  optorganization = {AAAI Workshop on Multiagent Learning},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{cohen_chitta_likhachev_icra10,
  author = {Cohen, B. J. and Chitta, S. and Likhachev, M. },
  title = {Search-based planning for manipulation with motion primitives},
  booktitle = icra,
  year = {2010},
  pages = {2902--2908},
  abstract = {Heuristic searches such as A* search are highly popular means of finding
	least-cost plans due to their generality, strong theoretical guarantees
	on completeness and optimality and simplicity in the implementation.
	In planning for robotic manipulation however, these techniques are
	commonly thought of as impractical due to the high-dimensionality
	of the planning problem. In this paper, we present a heuristic search-based
	manipulation planner that does deal effectively with the high-dimensionality
	of the problem. The planner achieves the required efficiency due
	to the following three factors: (a) its use of informative yet fast-to-compute
	heuristics; (b) its use of basic (small) motion primitives as atomic
	actions; and (c) its use of ARA* search which is an anytime heuristic
	search with provable bounds on solution suboptimality. Our experimental
	analysis on a real mobile manipulation platform with a 7-DOF robotic
	manipulator shows the ability of the planner to solve manipulation
	in cluttered spaces by generating consistent, low-cost motion trajectories
	while providing guarantees on completeness and bounds on suboptimality.},
  doi = {10.1109/ROBOT.2010.5509685},
  owner = {mihail},
  timestamp = {2012.01.13}
}

@INPROCEEDINGS{,
  author = {Cohen, B. J. and Subramanian, G. and Chitta, S. and Likhachev, M.
	},
  title = {Planning for Manipulation with Adaptive Motion Primitives},
  booktitle = {Proc. IEEE Int Robotics and Automation (ICRA) Conf},
  year = {2011},
  pages = {5478--5485},
  abstract = {In this paper, we present a search-based motion planning algorithm
	for manipulation that handles the high dimensionality of the problem
	and minimizes the limitations associated with employing a strict
	set of pre-defined actions. Our approach employs a set of adaptive
	motion primitives comprised of static motions with variable dimensionality
	and on-the-fly motions generated by two analytical solvers. This
	method results in a slimmer, multi-dimensional lattice and offers
	the ability to satisfy goal constraints with precision. To validate
	our approach, we used a 7DOF manipulator to perform experiments on
	a real mobile manipulation platform (Willow Garage's PR2). Our results
	demonstrate the effectiveness of the planner in efficiently navigating
	cluttered spaces; the method generates consistent, low-cost motion
	trajectories, and guarantees the search is complete with bounds on
	the suboptimality of the solution.},
  doi = {10.1109/ICRA.2011.5980550},
  owner = {mihail},
  timestamp = {2012.01.13}
}

@INPROCEEDINGS{CollinsICML00,
  author = {Michael Collins},
  title = {Discriminative Reranking for Natural Language Parsing},
  booktitle = ml00,
  year = {2000},
  pages = {175--182},
  address = {San Francisco, CA},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/collins00discriminative.html}
}

@INPROCEEDINGS{CollinsNIPS01,
  author = {Michael Collins and Nigel Duffy},
  title = {Convolution Kernels for Natural Language},
  booktitle = nips,
  year = {2001},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Conn1998,
  author = {Conn, R. A.  and Kam, M. },
  title = {Robot motion planning on N-dimensional star worlds among moving obstacles},
  journal = IEEE_J_RA,
  year = {1998},
  volume = {14},
  pages = {320--325},
  number = {2},
  __markedentry = {[mihail:]},
  abstract = {Inspired by an idea of <span class='snippet'>Rimon</span> and <span
	class='snippet'>Koditschek</span> (1992), we develop a motion planning
	algorithm for a point robot traveling among moving obstacles in an
	N-dimensional space. The navigating point must meet a goal point
	at a fixed time T, while avoiding several translating, nonrotating,
	nonintersecting obstacles on its way. All obstacles, the goal point,
	and the navigating point are confined to the interior of a star-shaped
	set in R<sup>N</sup> over the time interval [0, T]. Full a priori
	knowledge of the goal's location and of the obstacle's trajectories
	is assumed. We observe that the topology of the obstacle-free space
	is invariant in the time interval [0, T] as long as the obstacles
	are nonintersecting and as long as they do not cover the goal point
	at any time during [0, T]. Using this fact we reduce the problem,
	for any fixed time t<sub>0</sub>&isin;[0, T], to a stationary-obstacle
	problem, which is then solved using the method of <span class='snippet'>Rimon</span>
	and <span class='snippet'>Koditschek</span>. The fact that the obstacle-free
	space is topologically invariant allows a solution to the moving-obstacle
	problem over [0, T] through a continuous deformation of the stationary-obstacle
	solution obtained at time t<sub>0</sub>. We construct a vector field
	whose flow is in fact one such deformation. We believe that ours
	is the first global solution to the moving-obstacle path-planning
	problem which uses vector fields},
  doi = {10.1109/70.681250},
  owner = {mihail},
  timestamp = {2012.03.12}
}

@PHDTHESIS{conner_thesis,
  author = {David C. Conner},
  title = {Integrating Planning and Control for Constrained Dynamical Systems},
  school = {Carnegie Mellon University},
  year = {2007},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Conner2002,
  author = {Conner, D. C. and Atkar, P. N. and Rizzi, A. A. and Choset, H. },
  title = {Development of deposition models for paint application on surfaces
	embedded in R3 for use in automated path planning},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	System},
  year = {2002},
  volume = {2},
  pages = {1844--1849},
  month = sep # { 30--} # oct # { 5,},
  doi = {10.1109/IRDS.2002.1044024},
  owner = {Mihail},
  timestamp = {2010.02.05}
}

@ARTICLE{Conner2009,
  author = {Conner, D. C. and Choset, H. and Rizzi, A. A. },
  title = {Flow-Through Policies for Hybrid Controller Synthesis Applied to
	Fully Actuated Systems},
  journal = IEEE_J_RO,
  year = {2009},
  volume = {25},
  pages = {136--146},
  number = {1},
  month = feb,
  doi = {10.1109/TRO.2008.2008738},
  owner = {Mihail},
  timestamp = {2010.02.05}
}

@ARTICLE{Conner2005,
  author = {Conner, D. C. and Greenfield, A. and Atkar, P. N. and Rizzi, A. A.
	and Choset, H. },
  title = {Paint deposition modeling for trajectory planning on automotive surfaces},
  journal = IEEE_J_ASE,
  year = {2005},
  volume = {2},
  pages = {381--392},
  number = {4},
  month = oct,
  doi = {10.1109/TASE.2005.851631},
  owner = {Mihail},
  timestamp = {2010.02.05}
}

@INPROCEEDINGS{Conner2007,
  author = {Conner, David C. and Kress-Gazit, Hadas and Choset, Howie and Rizzi,
	Alfred A. and Pappas, George J.},
  title = {Valet parking without a valet},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2007},
  year = {2007},
  pages = {572--577},
  month = oct,
  doi = {10.1109/IROS.2007.4399374},
  file = {:C\:\\Documents and Settings\\Mihail\\My Documents\\work\\reading\\conner_etal_iros07.pdf:PDF},
  owner = {Mihail},
  timestamp = {2010.02.05}
}

@INPROCEEDINGS{Conner2003,
  author = {Conner, D. C. and Rizzi, A. A. and Choset, H. },
  title = {Composition of local potential functions for global robot control
	and navigation},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems (IROS 2003)},
  year = {2003},
  volume = {4},
  pages = {3546--3551},
  month = oct # { 27--31,},
  doi = {10.1109/IROS.2003.1249705},
  owner = {Mihail},
  timestamp = {2010.02.05}
}

@BOOK{conte_deboor_72,
  title = {Elementary Numerical Analysis},
  publisher = {McGraw-Hill, New York},
  year = {1972},
  author = {Conte, S.D. and deBoor, C.},
  owner = {mihail},
  timestamp = {2012.01.26}
}

@ARTICLE{Marcus99,
  author = {S.P. Coraluppi and S.I. Marcus},
  title = {Risk-Sensitive and Minimax Control of Discrete-Time, Finite-State
	{Markov} Decision Processes},
  journal = {Automatica},
  year = {1999},
  volume = {35},
  pages = {301-309},
  month = {February},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Cortes95,
  author = {C. Cortes and V. Vapnik},
  title = {Support Vector Networks},
  journal = mlj,
  year = {1995},
  volume = {20},
  pages = {273 - 297},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Coulter1991,
  author = {Coulter, R. C. and Stentz, A. J. and Keller, P. G. and Whittaker,
	W. L. },
  title = {An application of tool insertion using model-based vision},
  booktitle = {Proc. IEEE International Conference on Systems Engineering},
  year = {1991},
  pages = {316--319},
  month = aug # { 1--3,},
  doi = {10.1109/ICSYSE.1991.161142},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@BOOK{courant_hilbert_53,
  title = {Methods of Mathematical Physics},
  publisher = {Interscience Publishers, Inc.},
  year = {1953},
  author = {Courant, Richard and Hilbert, David},
  volume = {1},
  owner = {mihail},
  timestamp = {2012.01.05}
}

@ARTICLE{Cowan1988,
  author = {Cowan, Cregg K. and Kovesi, Peter D.},
  title = {Automatic Sensor Placement from Vision Task Requirements},
  journal = {IEEE Trans. Pattern Anal. Mach. Intell.},
  year = {1988},
  volume = {10},
  pages = {407--416},
  number = {3},
  abstract = {The problem of automatically generating the possible camera locations
	for observing an object is defined, and an approach to its solution
	is presented. The approach, which uses models of the object and the
	camera, is based on meeting the requirements that: the spatial resolution
	be above a minimum value, all surface points be in focus, all surfaces
	lie within the sensor field of view and no surface points be occluded.
	The approach converts each sensing requirement into a geometric constraint
	on the sensor location, from which the three-dimensional region of
	viewpoints that satisfies that constraint is computed. The intersection
	of these regions is the space where a sensor may be located. The
	extension of this approach to laser-scanner range sensors is also
	described. Examples illustrate the resolution, focus, and field-of-view
	constraints for two vision tasks.},
  address = {Washington, DC, USA},
  doi = {http://dx.doi.org/10.1109/34.3905},
  issn = {0162-8828},
  owner = {Mihail},
  publisher = {IEEE Computer Society},
  timestamp = {2010.03.03}
}

@ARTICLE{cowan_weingarten_koditschek_tro02,
  author = {Cowan, N.J. and Weingarten, J.D. and Koditschek, D.E.},
  title = {Visual Servoing via Navigation Functions},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {2002},
  volume = {18},
  pages = {521-529},
  number = {4},
  owner = {mihail},
  timestamp = {2011.09.07}
}

@BOOK{Cowell,
  title = {Probabilistic Networks and Expert Systems},
  publisher = {Springer},
  year = {1999},
  author = {R. G. Cowell and A. P. David and S. L. Lauritzen and D. J. Spiegelhalter},
  address = {New York, NY},
  __markedentry = {[mihail]},
  optnote = {recommended by Kevin Murphy},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Cramer85,
  author = {Cramer, N. L.},
  title = {A Representation for the Adaptive Generation of Simple Sequential
	Programs},
  booktitle = {Proceedings of an International Conference on Genetic Algorithms
	and Their Applications},
  year = {1985},
  editor = {Grefenstette, J.J.},
  address = {Hillsdale, NJ},
  publisher = {Lawrence Erlbaum Associates},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Crites98,
  author = {Robert H. Crites and Andrew G. Barto},
  title = {Elevator Group Control Using Multiple Reinforcement Learning Agents},
  journal = mlj,
  year = {1998},
  volume = {33},
  pages = {235-42},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/crites98elevator.html}
}

@INPROCEEDINGS{Crites97,
  author = {Robert H. Crites and Andrew G. Barto},
  title = {Improving Elevator Performance Using Reinforcement Learning},
  booktitle = nips,
  year = {1997},
  volume = {9},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  editors = {Michael Mozer and Michael Jordan and Thomas Petsche},
  optaddress = {Cambridge, MA},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@MISC{Crutchfield01,
  author = {James P. Crutchfield and David P. Feldman},
  title = {Synchronizing to the Environment: Information Theoretic Constraints
	on Agent Learning},
  howpublished = {http://www.santafe.edu/sfi/publications/working-papers.html},
  year = {2001},
  note = {manuscript},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Daily1988,
  author = {Daily, M. and Harris, J. and Keirsey, D. and Olin, D. and Payton,
	D. and Reiser, K. and Rosenblatt, J. and Tseng, D. and Wong, V.},
  title = {Autonomous cross-country navigation with the {ALV}},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1988},
  pages = {718--726 vol.2},
  abstract = {A description is given of the first cross-country map and sensor-based
	autonomous operation of a robotic vehicle. Experiments on the autonomous
	land vehicle (ALV) in natural terrain were performed. An overview
	of the software architecture is provided, and details of the perception
	and planning techniques are presented. Two key experiments in which
	the vehicle avoided known and unknown obstacles in its path are described},
  doi = {10.1109/ROBOT.1988.12144},
  keywords = {artificial intelligence, computerised navigation, robots, vehicles,
	artificial intelligence, autonomous land vehicle, computerised navigation,
	cross-country navigation, path planning, sensor-based autonomous
	operation, software architecture, terrain},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Dasgupta96,
  author = {Bhaskar Dasgupta and Eduardo D. Sontag},
  title = {Sample Complexity for Learning Recurrent Perceptron Mappings},
  booktitle = nips,
  year = {1996},
  editor = {David S. Touretzky and Michael C. Mozer and Michael E. Hasselmo},
  volume = {8},
  pages = {204--210},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/dasgupta95sample.html}
}

@INPROCEEDINGS{Davis1995,
  author = {Davis, I. L. and Kelly, A. and Stentz, A. and Matthies, L. },
  title = {Terrain typing for real robots},
  booktitle = {Proc. Intelligent Vehicles '95 Symposium},
  year = {1995},
  pages = {400--405},
  month = sep # { 25--26,},
  doi = {10.1109/IVS.1995.528315},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Davis1995a,
  author = {Davis, I. L. and Stentz, A. },
  title = {Sensor fusion for autonomous outdoor navigation using neural networks},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems 95. 'Human Robot Interaction and Cooperative Robots'},
  year = {1995},
  volume = {3},
  pages = {338--343},
  month = aug # { 5--9,},
  doi = {10.1109/IROS.1995.525906},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@BOOK{DayanAbbott,
  title = {Theoretical Neuroscience},
  publisher = {The {MIT} Press},
  year = {2001},
  author = {Peter Dayan and L.F. Abbott},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Jong01,
  author = {Edwin D. {De Jong}},
  title = {Utilizing Bias to Evolve Recurrent Neural Networks},
  booktitle = {Proceedings of the International Joint Conference on Neural Networks},
  year = {2001},
  volume = {4},
  pages = {2667-2672},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Dean95,
  title = {Artificial Intelligence. Theory and practice.},
  publisher = {Addison-Wesley Pub.},
  year = {1995},
  author = {Dean, Thomas and Allen, James and Aloimonos, Yiannis},
  address = {Redwood City, CA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{desai_kumar_icra97,
  author = {Jaydev P. Desai and Vijay Kumar},
  title = {Nonholonomic motion planning for multiple mobile manipulators},
  booktitle = {ICRA},
  year = {1997},
  owner = {Mihail},
  timestamp = {2010.03.08}
}

@INPROCEEDINGS{Deyle2008,
  author = {Deyle, T. and Anderson, C. and Kemp, C. C. and Reynolds, M. S. },
  title = {A foveated passive UHF RFID system for mobile manipulation},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2008},
  year = {2008},
  pages = {3711--3716},
  abstract = {We present a novel antenna and system architecture for mobile manipulation
	based on passive RFID technology operating in the 850 MHz - 950 MHz
	ultra-high-frequency (UHF) spectrum. This system exploits the electromagnetic
	properties of UHF radio signals to present a mobile robot with both
	wide-angle dasiaperipheral visionpsila, sensing multiple tagged objects
	in the area in front of the robot, and focused, high-acuity dasiacentral
	visionpsila, sensing only tagged objects close to the end effector
	of the manipulator. These disparate tasks are performed using the
	same UHF RFID tag, coupled in two different electromagnetic modes.
	Wide-angle sensing is performed with an antenna designed for far-field
	electromagnetic wave propagation, while focused sensing is performed
	with a specially designed antenna mounted on the end effector that
	optimizes near-field magnetic coupling. We refer to this RFID system
	as dasiafoveatedpsila, by analogy with the anatomy of the human eye.
	We report a series of experiments on an untethered autonomous mobile
	manipulator in a 2.5D environment that demonstrate the features of
	this architecture using two novel behaviors, one in which data from
	the far-field antenna is used to determine if a specific tagged object
	is present in the robotpsilas working area and to navigate to that
	object, and a second using data from the near-field antenna to grasp
	a specified object from a collection of visually identical objects.
	The same UHF RFID tag is used to facilitate both the navigation and
	grasping tasks.},
  doi = {10.1109/IROS.2008.4651047},
  keywords = {antennas, electromagnetic coupling, end effectors, mobile robots,
	path planning, radiofrequency identification, radiowave propagation,
	far-field electromagnetic wave propagation, foveated passive UHF
	RFID system, frequency 850 MHz to 950 MHz, mobile manipulation, near-field
	magnetic coupling, peripheral vision, ultra-high-frequency spectrum},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@PHDTHESIS{diankov_thesis,
  author = {Rosen Diankov},
  title = {Automated Construction of Robotics Manipulation Programs},
  school = {Robotics Institute, Carnegie Mellon University},
  year = {2010},
  address = {5000 Forbes Ave., Pittsburgh, PA 15213},
  month = {10},
  owner = {mihail},
  timestamp = {2012.02.21}
}

@INPROCEEDINGS{Dias2005,
  author = {Dias, M. B. and Ghanem, B. and Stentz, A. },
  title = {Improving cost estimation in market-based coordination of a distributed
	sensing task},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems (IROS 2005)},
  year = {2005},
  pages = {3972--3977},
  month = aug # { 2--6,},
  doi = {10.1109/IROS.2005.1544988},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Dias2003,
  author = {Dias, M. B. and Stentz, A.},
  title = {A comparative study between centralized, market-based, and behavioral
	multirobot coordination approaches},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems (IROS 2003)},
  year = {2003},
  volume = {3},
  pages = {2279--2284},
  month = oct # { 27--31,},
  doi = {10.1109/IROS.2003.1249210},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Dias2002,
  author = {Dias, M. B. and Stentz, A. },
  title = {Opportunistic optimization for market-based multirobot control},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	System},
  year = {2002},
  volume = {3},
  pages = {2714--2720},
  month = sep # { 30--} # oct # { 5,},
  doi = {10.1109/IRDS.2002.1041680},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{Dias2006,
  author = {Dias, M. B. and Zlot, R. and Kalra, N. and Stentz, A. },
  title = {Market-Based Multirobot Coordination: A Survey and Analysis},
  journal = {Proceedings of the IEEE},
  year = {2006},
  volume = {94},
  pages = {1257--1270},
  number = {7},
  month = jul,
  doi = {10.1109/JPROC.2006.876939},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Diddams2000,
  author = {Diddams, S. A. and Jones, D. J. and Cundiff, S. T. and Hall, J. L.
	and Ranka, J. K. and Windeler, R. S. and Stentz, A. J. },
  title = {A direct rf to optical frequency measurement with a femtosecond laser
	comb spanning 300 THz},
  booktitle = {Proc. Technical Digest Quantum Electronics and Laser Science Conference
	(QELS 2000)},
  year = {2000},
  pages = {109--110},
  month = may # { 7--12,},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{Dijkstra59,
  author = {E. Dijkstra},
  title = {A note on two problems in connection with graphs},
  journal = {Numerical Mathematics},
  year = {1959},
  volume = {1},
  pages = {269-271},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Dima2004,
  author = {Dima, C. and Hebert, M. and Stentz, A. },
  title = {Enabling learning from large datasets: applying active learning to
	mobile robotics},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'04},
  year = {2004},
  volume = {1},
  pages = {108--114},
  doi = {10.1109/ROBOT.2004.1307137},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{Dolgov2010,
  author = {Dolgov, Dmitri and Thrun, Sebastian and Montemerlo, Michael and Diebel,
	James},
  title = {Path Planning for Autonomous Vehicles in Unknown Semi-structured
	Environments},
  journal = {Int. J. Rob. Res.},
  year = {2010},
  volume = {29},
  pages = {485--501},
  number = {5},
  abstract = {We describe a practical path-planning algorithm for an autonomous
	vehicle operating in an unknown semi-structured (or unstructured)
	environment, where obstacles are detected online by the robot&#226;????s
	sensors. This work was motivated by and experimentally validated
	in the 2007 DARPA Urban Challenge, where robotic vehicles had to
	autonomously navigate parking lots. The core of our approach to path
	planning consists of two phases. The first phase uses a variant of
	A* search (applied to the 3D kinematic state space of the vehicle)
	to obtain a kinematically feasible trajectory. The second phase then
	improves the quality of the solution via numeric non-linear optimization,
	leading to a local (and frequently global) optimum. Further, we extend
	our algorithm to use prior topological knowledge of the environment
	to guide path planning, leading to faster search and final trajectories
	better suited to the structure of the environment. We present experimental
	results from the DARPA Urban Challenge, where our robot demonstrated
	near-flawless performance in complex general path-planning tasks
	such as navigating parking lots and executing U-turns on blocked
	roads. We also present results on autonomous navigation of real parking
	lots. In those latter tasks, which are significantly more complex
	than the ones in the DARPA Urban Challenge, the time of a full replanning
	cycle of our planner is in the range of 50&#226;????300 ms.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364909359210},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.07.05}
}

@ARTICLE{donald_xavier_95,
  author = {Donald, B.R. and Xavier, P.},
  title = {Provably good approximation algorithms for optimal kinodynamic planning:
	Robots with decoupled dynamics bounds},
  journal = {Algorithmica},
  year = {1995},
  volume = {14},
  pages = {443-479},
  number = {6},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Donald1989,
  author = {Donald, B. and Xavier, P. },
  title = {Near-optimal kinodynamic planning for robots with coupled dynamics
	bounds},
  booktitle = {Proc. Symp. IEEE Int Intelligent Control},
  year = {1989},
  pages = {354--359},
  doi = {10.1109/ISIC.1989.238674},
  owner = {Mihail},
  timestamp = {2010.06.28}
}

@ARTICLE{Donald1993,
  author = {Donald, Bruce and Xavier, Patrick and Canny, John and Reif, John},
  title = {Kinodynamic motion planning},
  journal = {J. ACM},
  year = {1993},
  volume = {40},
  pages = {1048--1066},
  number = {5},
  address = {New York, NY, USA},
  doi = {http://doi.acm.org/10.1145/174147.174150},
  issn = {0004-5411},
  owner = {Mihail},
  publisher = {ACM},
  timestamp = {2010.01.21}
}

@INPROCEEDINGS{Donald1990,
  author = {Donald, Bruce R. and Xavier, Patrick G.},
  title = {Provably good approximation algorithms for optimal kinodynamic planning
	for Cartesian robots and open chain manipulators},
  booktitle = {SCG '90: Proceedings of the sixth annual symposium on Computational
	geometry},
  year = {1990},
  pages = {290--300},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {We consider the following problem: given a robot system, find a minimal-time
	trajectory from a start state to a goal state, while avoiding obstacles
	by a speed-dependent safety margin and respecting dynamics bounds.
	In [CDRX] we developed a provably good approximation algorithm for
	the minimum-time trajectory problem for a robot system with decoupled
	dynamics bounds. This algorithm differed from previous work in three
	ways: it is possible (1) to bound the goodness of the approximation
	by an error term (2) to polynomially bound the running time (complexity)
	of our algorithm; and (3) to express the complexity as a polynomial
	function of the error term.We extend these results to d-link, revolute-joint
	3D robots will full rigid body dynamics. Specifically, we first prove
	a generalized trajectory-tracking lemma for robots with coupled dynamics
	bounds. Using this result we describe polynomial-time approximation
	algorithms for Cartesian robots obeying L2 dynamics bounds and open
	kinematic chain manipulators with revolute and prismatic joints;
	the latter class includes most industrial manipulators. We obtain
	a general (n2 (log n)(1/6d-1) algorithm, where n is the geometric
	complexity. The algorithm is simple, but the new game-theoretic proof
	techniques we introduce are subtle, and employ tools from disparate
	parts of computational geometry, robotics, and dynamical systems.},
  doi = {http://doi.acm.org/10.1145/98524.98594},
  isbn = {0-89791-362-0},
  location = {Berkley, California, United States},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@ARTICLE{dubins_57,
  author = {Dubins, L. E.},
  title = {On curves of minimal length with a constraint on average curvature,
	and with prescribed initial and terminal positions and tangents},
  journal = {American Journal of Mathematics},
  year = {1957},
  volume = {79},
  pages = {497-516}
}

@ARTICLE{Dubins1988,
  author = {Dubins, L. E. and Orlitsky, A. and Reeds, J. A. and Shepp, L. A.
	},
  title = {Self-avoiding random loops},
  journal = IEEE_J_IT,
  year = {1988},
  volume = {34},
  pages = {1509--1516},
  number = {6},
  month = nov,
  doi = {10.1109/18.21290},
  owner = {Mihail},
  timestamp = {2010.01.20}
}

@BOOK{Dudley99,
  title = {Uniform Central Limit Theorems},
  publisher = {Cambridge University Press},
  year = {1999},
  author = {Richard M. Dudley},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{,
  author = {Duindam, V. and Alterovitz, R. and Sastry, S. and Goldberg, K. },
  title = {Screw-based motion planning for bevel-tip flexible needles in 3D
	environments with obstacles},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA 2008},
  year = {2008},
  pages = {2483--2488},
  abstract = {Bevel-tip flexible needles have greater mobility than straight rigid
	needles, and can be used to reach targets behind sensitive or impenetrable
	areas. Accurately planning and executing the optimal motions for
	such steerable needles is difficult, however, and requires solving
	inverse kinematics for a nonholonomic system. This paper presents
	an approach to 3D motion planning for bevel-tip needles in an environment
	with obstacles. Instead of discretizing the configuration space as
	in earlier work, we discretize the control space, such that the trajectory
	of the needle can be expressed analytically without the need for
	approximate numerical simulation. This results in a fast optimization
	routine that finds a locally optimal path in a 3D environment with
	obstacles, requiring just a few seconds of computation time on a
	standard PC. We introduce two different discretization strategies
	that lead to differently structured paths and show that both produce
	valid trajectories from start to goal. To our knowledge, the presented
	method is the first to address motion planning for bevel-tip needles
	in a 3D environment with obstacles.},
  doi = {10.1109/ROBOT.2008.4543586},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{Duinkerken2006,
  author = {Duinkerken, Mark B. and Hoeven, Tiemen ter and Lodewijks, Gabriel},
  title = {Simulating the operational control of free ranging AGVs},
  booktitle = {WSC '06: Proceedings of the 38th conference on Winter simulation},
  year = {2006},
  pages = {1515--1522},
  publisher = {Winter Simulation Conference},
  isbn = {1-4244-0501-7},
  location = {Monterey, California},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Duinkerken2006a,
  author = {Duinkerken, Mark B. and Ottjes, Jaap A. and Lodewijks, Gabriel},
  title = {Comparison of routing strategies for AGV systems using simulation},
  booktitle = {WSC '06: Proceedings of the 38th conference on Winter simulation},
  year = {2006},
  pages = {1523--1530},
  publisher = {Winter Simulation Conference},
  isbn = {1-4244-0501-7},
  location = {Monterey, California},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Egerstedt2000,
  author = {Egerstedt, N. and Xiaoming Hu},
  title = {Coordinated trajectory following for mobile manipulation},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'00},
  year = {2000},
  volume = {4},
  pages = {3479--3484},
  month = apr # { 24--28,},
  doi = {10.1109/ROBOT.2000.845268},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{erickson_lavalle_icra09,
  author = {L. Erickson and S. LaValle},
  title = {Survivability: Measuring and Ensuring Path Diversity},
  booktitle = icra,
  year = {2009},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Erickson2008,
  author = {Erickson, L. H. and Knuth, J. and O'Kane, J. M. and LaValle, S. M.
	},
  title = {Probabilistic localization with a blind robot},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2008},
  year = {2008},
  pages = {1821--1827},
  abstract = {Researchers have addressed the localization problem for mobile robots
	using many different kinds of sensors, including rangefinders, cameras,
	and odometers. In this paper, we consider localization using a robot
	that is virtually "blind", having only a clock and contact sensor
	at its disposal. This represents a drastic reduction in sensing requirements,
	even in light of existing work that considers localization with limited
	sensing. We present probabilistic techniques that represent and update
	the robot's position uncertainty and algorithms to reduce this uncertainty.
	We demonstrate the experimental effectiveness of these methods using
	a Roomba autonomous vacuum cleaner robot in laboratory environments.},
  doi = {10.1109/ROBOT.2008.4543472},
  issn = {1050-4729},
  keywords = {mobile robots, position control, probability, blind robot, clock-and-contact
	sensor, mobile robot, probabilistic localization, robot position
	uncertainty},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@INPROCEEDINGS{Erickson2009,
  author = {Erickson, L. H. and LaValle, S. M. },
  title = {Survivability: Measuring and ensuring path diversity},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'09},
  year = {2009},
  pages = {2068--2073},
  abstract = {A novel criterion is introduced for assessing the diversity of a collection
	of paths or trajectories. The main idea is the notion of survivability,
	which measures the likelihood that numerous paths are obstructed
	by the same obstacle. This helps to improve robustness with respect
	to collision, which is an important challenge in the design of real-time
	planning algorithms. Efficient algorithms are presented for computing
	the survivability criterion and for selecting a subset of paths that
	optimize survivability from a larger collection. The algorithms are
	implemented and solutions are illustrated for two different systems.
	Chi-square tests are used to show uniform coverage obtained by using
	the computed paths in a simple breadth-first search. Random obstacle
	placement is used to show superior robustness of these primitives
	compared to uniform sampling of the control space.},
  doi = {10.1109/ROBOT.2009.5152773},
  issn = {1050-4729},
  keywords = {mobile robots, path planning, breadth-first search, chi-square tests,
	path diversity, random obstacle placement, real-time planning algorithms,
	survivability criterion, uniform sampling},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@INPROCEEDINGS{Erickson2009a,
  author = {Erickson, Lawrence H. and LaValle, Steven M.},
  title = {Survivability: measuring and ensuring path diversity},
  booktitle = {ICRA'09: Proceedings of the 2009 IEEE international conference on
	Robotics and Automation},
  year = {2009},
  pages = {3749--3754},
  address = {Piscataway, NJ, USA},
  publisher = {IEEE Press},
  abstract = {A novel criterion is introduced for assessing the diversity of a collection
	of paths or trajectories. The main idea is the notion of survivability,
	which measures the likelihood that numerous paths are obstructed
	by the same obstacle. This helps to improve robustness with respect
	to collision, which is an important challenge in the design of real-time
	planning algorithms. Efficient algorithms are presented for computing
	the survivability criterion and for selecting a subset of paths that
	optimize survivability from a larger collection. The algorithms are
	implemented and solutions are illustrated for two different systems.
	Chi-square tests are used to show uniform coverage obtained by using
	the computed paths in a simple breadth-first search. Random obstacle
	placement is used to show superior robustness of these primitives
	compared to uniform sampling of the control space.},
  isbn = {978-1-4244-2788-8},
  location = {Kobe, Japan},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@BOOK{Ermakov71,
  title = {The {Monte Carlo} Method and Related Problems},
  publisher = {Nauka},
  year = {1971},
  author = {S. Ermakov},
  address = {Moscow},
  note = {(in Russian)},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Ermakov82,
  title = {Statisticheskoje Modelirovanie},
  publisher = {Nauka},
  year = {1982},
  author = {S. Ermakov and G. Mikailov},
  address = {Moscow},
  note = {(in Russian)},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{fan_etal_iros10,
  author = {Xiuyi Fan and Surya Singh and Florian Oppolzer and Eric Nettleton
	and Ross Hennessy and Alexander Lowe and Hugh Durrant-Whyte},
  title = {Integrated Planning and Control of Large Tracked Vehicles in Open
	Terrain},
  booktitle = {Proceedings of the International Conference on Robotics and Automation},
  year = {2010},
  owner = {Mihail},
  timestamp = {2010.06.30}
}

@ARTICLE{Faure2009,
  author = {Faure, Henri and Lemieux, Christiane},
  title = {Generalized Halton sequences in 2008: A comparative study},
  journal = {ACM Trans. Model. Comput. Simul.},
  year = {2009},
  volume = {19},
  pages = {1--31},
  number = {4},
  abstract = {Halton sequences have always been quite popular with practitioners,
	in part because of their intuitive definition and ease of implementation.
	However, in their original form, these sequences have also been known
	for their inadequacy to integrate functions in moderate to large
	dimensions, in which case (t,s)-sequences such as the Sobol' sequence
	are usually preferred. To overcome this problem, one possible approach
	is to include permutations in the definition of Halton sequences&mdash;thereby
	obtaining generalized Halton sequences&mdash;an idea that goes back
	to almost thirty years ago, and that has been studied by many researchers
	in the last few years. In parallel to these efforts, an important
	improvement in the upper bounds for the discrepancy of Halton sequences
	has been made by Atanassov in 2004. Together, these two lines of
	research have revived the interest in Halton sequences. In this article,
	we review different generalized Halton sequences that have been proposed
	recently, and compare them by means of numerical experiments. We
	also propose a new generalized Halton sequence which, we believe,
	offers a practical advantage over the surveyed constructions, and
	that should be of interest to practitioners.},
  address = {New York, NY, USA},
  doi = {http://doi.acm.org/10.1145/1596519.1596520},
  issn = {1049-3301},
  owner = {Mihail},
  publisher = {ACM},
  timestamp = {2010.06.30}
}

@INPROCEEDINGS{faverjon_icra89,
  author = {Faverjon, B.},
  title = {Hierarchical object models for efficient anti-collision algorithms},
  booktitle = icra,
  year = {1989},
  pages = {333--340},
  abstract = {The author presents an offline programming system specially designed
	for complex robotic applications (e.g., intervention of redundant
	manipulators in a nuclear plant). It uses hierarchical CAD models
	of solids and manipulators. These models are derived from constructive
	solid geometry trees and combine simple volume primitives with union
	or difference set operations. They offer different levels of description
	of the objects and enable an efficient computation of local minima
	of the distance between points of the objects. By setting constraints
	on the variation of the distance at these points, it is possible
	to produce collision-free trajectories achieving complex tasks with
	Cartesian and/or joint parameter goals},
  doi = {10.1109/ROBOT.1989.100010},
  owner = {mihail},
  timestamp = {2012.01.27}
}

@INPROCEEDINGS{Fedrizzi2009,
  author = {Fedrizzi, A. and Mosenlechner, L. and Stulp, F. and Beetz, M. },
  title = {Transformational planning for mobile manipulation based on action-related
	places},
  booktitle = {Proc. International Conference on Advanced Robotics ICAR 2009},
  year = {2009},
  pages = {1--8},
  abstract = {Opportunities for interleaving or parallelizing actions are abundant
	in everyday activities. Being able to perceive, predict and exploit
	such opportunities leads to more efficient and robust behavior. In
	this paper, we present a mobile manipulation platform that exploits
	such opportunities to optimize its behavior, e.g. grasping two objects
	from one location simultaneously, rather than navigating to two different
	locations. To do so, it uses a general least-commitment representation
	of place, called ARPLACE, from which manipulation is predicted to
	be successful. Models for ARPLACEs are learned from experience using
	support vector machines and point distribution models, and take into
	account the robot's morphology and skill repertoire. We present a
	transformational planner that reasons about ARPLACEs, and applies
	transformation rules to its plans if more robust and efficient behavior
	is predicted.},
  keywords = {control engineering computing, manipulators, mobile robots, support
	vector machines, ARPLACE, action-related places, mobile manipulation
	platform, point distribution models, support vector machines, transformational
	planning},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@TECHREPORT{felzenzwalb_huttenlocher_tr04,
  author = {P. Felzenszwalb and D. Huttenlocher},
  title = {Distance Transforms of Sampled Functions},
  institution = {Cornell University},
  year = {2004},
  number = {TR2004-1963},
  owner = {mihail},
  timestamp = {2011.09.07}
}

@ARTICLE{Ferbach1997,
  author = {Ferbach, P. and Barraquand, J. },
  title = {A method of progressive constraints for manipulation planning},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {1997},
  volume = {13},
  pages = {473--485},
  number = {4},
  abstract = {We present a method for manipulation planning derived from a systematic
	approach to constrained motion planning. We call it a method of progressive
	constraints. It replaces an original problem by a series of progressively
	constrained ones, and makes a solution of the current problem converge
	toward a solution of the original problem. The manipulation constraints
	are analyzed and it is shown how they can be introduced progressively.
	The progressive constraints framework can thus be used for solving
	manipulation planning problems. The general algorithm proposed for
	constrained motion planning can be derived from a standard geometric
	path planner. We use the variational dynamic programming path planner,
	in which at every iteration a current path is used to generate a
	submanifold that is searched for a better path},
  doi = {10.1109/70.611297},
  issn = {1042-296X},
  keywords = {constraint handling, dynamic programming, manipulator kinematics,
	path planning, variational techniques, configuration space, constrained
	motion planning, geometric path planner, manipulation planning, manipulators,
	progressive constraints, variational dynamic programming},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Ferguson2006,
  author = {Ferguson, D. and Kalra, N. and Stentz, A. },
  title = {Replanning with RRTs},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2006},
  year = {2006},
  pages = {1243--1248},
  month = may # { 15--19,},
  doi = {10.1109/ROBOT.2006.1641879},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Ferguson2007,
  author = {Ferguson, D. and Stentz, A. },
  title = {Anytime, Dynamic Planning in High-dimensional Search Spaces},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {2007},
  pages = {1310--1315},
  month = apr # { 10--14,},
  doi = {10.1109/ROBOT.2007.363166},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Ferguson2006a,
  author = {Ferguson, D. and Stentz, A. },
  title = {Anytime RRTs},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems},
  year = {2006},
  pages = {5369--5375},
  month = oct # { 9--15,},
  doi = {10.1109/IROS.2006.282100},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{ferguson_stentz_06a,
  author = {D. Ferguson and A. Stentz},
  title = {Using Interpolation to Improve Path Planning: The {F}ield {D}* Algorithm},
  journal = {International Journal of Robotics Research},
  year = {2006},
  volume = {23},
  pages = {79-101},
  number = {2},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{ferguson_stentz_06b,
  author = {D. Ferguson and A. Stentz},
  title = {Multi-resolution {F}ield {D}*},
  booktitle = {Proc. International Conference on Intelligent Autonomous Systems
	(IAS)},
  year = {2006}
}

@INPROCEEDINGS{Ferguson2005,
  author = {Ferguson, D. and Stentz, A.},
  title = {The Delayed D* Algorithm for Efficient Path Replanning},
  booktitle = icra,
  year = {2005},
  pages = {2045--2050},
  month = apr # { 18--22,},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Ferguson2004,
  author = {Ferguson, D. and Stentz, A. },
  title = {Planning with imperfect information},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems (IROS 2004)},
  year = {2004},
  volume = {2},
  pages = {1926--1931},
  month = sep # { 28--} # oct # { 2,},
  doi = {10.1109/IROS.2004.1389679},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Ferguson2004a,
  author = {Ferguson, D. and Stentz, A. },
  title = {Focussed processing of MDPs for path planning},
  booktitle = {Proc. 16th IEEE International Conference on Tools with Artificial
	Intelligence ICTAI 2004},
  year = {2004},
  pages = {310--317},
  month = nov # { 15--17,},
  doi = {10.1109/ICTAI.2004.64},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Ferguson2004b,
  author = {Ferguson, D. and Stentz, A. and Thrun, S. },
  title = {PAO for planning with hidden state},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'04},
  year = {2004},
  volume = {3},
  pages = {2840--2847},
  month = apr,
  doi = {10.1109/ROBOT.2004.1307491},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{fernandes_gurvits_li_91,
  author = {Fernandes, C. and Gurvits, L. and Li, Z. X.},
  title = {A variational approach to optimal nonholonomic moton planning},
  booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
  year = {1991},
  pages = {680-685}
}

@ARTICLE{fink_etal_ijrr10,
  author = {Jonathan Fink and Nathan Michael and Soonkyum Kim and Vijay Kumar},
  title = {Planning and control for cooperative manipulation and transportation
	with aerial robots},
  journal = ijrr,
  year = {2011},
  volume = {30},
  pages = {324-334},
  number = {3},
  owner = {mihail},
  timestamp = {2012.01.13}
}

@ARTICLE{fleury_etal_jra95,
  author = {Fleury, S. and Soueres, P. and Laumond, J.-P. and Chatila, R.},
  title = {Primitives for smoothing mobile robot trajectories},
  journal = TRA,
  year = {1995},
  volume = {11},
  pages = {441--448},
  number = {3},
  abstract = {Clothoids are very useful for smoothing the motion of a mobile robot
	moving along a trajectory. This paper addresses the problem of smoothing
	mobile robot motions when cusps, i.e., changes of motion direction
	along the trajectory, are imposed. We pinpoint some special curves
	(that we call &ldquo;anticlothoids&rdquo;) and we discuss how they
	can be used together with clothoids in order to smooth a predefined
	trajectory},
  doi = {10.1109/70.388788},
  owner = {mihail},
  timestamp = {2012.01.18}
}

@INPROCEEDINGS{Fofanov2008,
  author = {Fofanov, V. Y. and Chen, B. Y. and Bryant, D. H. and Moll, M. and
	Lichtarge, O. and Kavraki, L. and Kimmel, M. },
  title = {A statistical model to correct systematic bias introduced by algorithmic
	thresholds in protein structural comparison algorithms},
  booktitle = {Proc. IEEE International Conference on Bioinformatics and Biomeidcine
	Workshops BIBMW 2008},
  year = {2008},
  pages = {1--8},
  abstract = {The identification of protein function is crucial to understanding
	cellular processes and selecting novel proteins as drug targets.
	However, experimental methods for determining protein function can
	be expensive and time-consuming. Protein partial structure comparison
	methods seek to guide and accelerate the process of function determination
	by matching characterized functional site representations, motifs,
	to substructures within uncharacterized proteins, matches. One common
	difficulty of all protein structural comparison techniques is the
	computational cost of obtaining a match. In an effort to maintain
	practical efficiency, some algorithms employ efficient geometric
	threshold-based searches to eliminate biologically irrelevant matches.
	Thresholds refine and accelerate the method by limiting the number
	of potential matches that need to be considered. However, because
	statistical models rely on the output of the geometric matching method
	to accurately measure statistical significance, geometric thresholds
	can also artificially distort the basis of statistical models, making
	statistical scores dependant on geometric thresholds and potentially
	causing significant reductions in accuracy of the functional annotation
	method. This paper proposes a point-weight based correction approach
	to quantify and model the dependence of statistical scores to account
	for the systematic bias introduced by heuristics. Using a benchmark
	dataset of 20 structural motifs, we show that the point-weight correction
	procedure accurately models the information lost during the geometric
	comparison phase, removing systematic bias and greatly reducing misclassification
	rates of functionally related proteins, while maintaining specificity.},
  doi = {10.1109/BIBMW.2008.4686202},
  keywords = {biology computing, molecular biophysics, proteins, statistical analysis,
	algorithmic thresholds, cellular processes, point-weight based correction,
	protein structural comparison algorithms, statistical model, systematic
	bias},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{folgheraiter_etal_icorr03,
  author = {Michele Folgheraiter and Giuseppina Gini and Marek Perkowski and
	Mihail Pivtoraiko},
  title = {Blackfingers: a Sophisticated Hand Prosthesis},
  booktitle = {Proceedings of the International Conference on Rehabilitation Robotics},
  year = {2003},
  abstract = {Our goal is to develop the low level control system for an artificial
	hand "Blackfingers". Blackfingers was thought to have two main applications:
	as humanoid robotâ€™s hand or as a human hand prothesis. In this
	last application our intent is to realize a device more sophisticated
	respect the actual commerce prothesis. Also in our intention is to
	use some biological paradigms to create a human like reflex control
	easy to be interfaced also with the human nervous system. In this
	paper we illustrate the properties and the morphology of a human
	like neural reflex controller, used to set the stiffness and joint
	positions of our artificial hand. In particular we explain, by simulations
	results, its ability to emulate the myotatic human reflex, and its
	capacity to learn in real time the best control strategy.},
  bib2html_pubtype = {Refereed Conferences},
  bib2html_rescat = {Other},
  owner = {mihail},
  timestamp = {2010.08.07}
}

@INPROCEEDINGS{fraichard_ahuactzin_01,
  author = {Fraichard, T. and Ahuactzin, J.-M.},
  title = {Smooth path planning for cars},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {2001},
  pages = {3722-3727}
}

@ARTICLE{Fraichard2004,
  author = {Fraichard, T. and Scheuer, A.},
  title = {From Reeds and Shepp's to continuous-curvature paths},
  journal = {IEEE Transactions on Robotics},
  year = {2004},
  volume = {20},
  pages = {1025--1035},
  number = {6},
  month = dec,
  doi = {10.1109/TRO.2004.833789},
  owner = {Mihail},
  timestamp = {2010.01.20}
}

@ARTICLE{fraichard_scheuer_04,
  author = {Fraichard, T. and Scheuer, A.},
  title = {From {R}eeds and {S}hepp's to continuous-curvature paths},
  journal = {IEEE Transactions on Robotics},
  year = {2004},
  volume = {20},
  pages = {1025-1035},
  number = {6},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Fraichard1994,
  author = {Fraichard, T. and Scheuer, A. },
  title = {Car-like robots and moving obstacles},
  booktitle = {Proc. Conf. IEEE Int Robotics and Automation},
  year = {1994},
  pages = {64--69},
  abstract = {This paper addresses motion planning for a car-like robot moving in
	a changing planar workspace, i.e. with moving obstacles. First, this
	motion planning problem is formulated in the state-time space framework.
	The state-time space of a robot is its state space plus the time
	dimension. In this framework part of the constraints at hand are
	translated into static forbidden regions of state-time space, and
	a trajectory maps to a state-time curve which must respect the remaining
	constraints. Then an approximate solution to the problem is presented},
  doi = {10.1109/ROBOT.1994.351009},
  owner = {Mihail},
  timestamp = {2010.07.01}
}

@ARTICLE{Fraile2006,
  author = {Fraile, J. C. and Perez-turiel, J. and Gonzalez-sanchez, J. L. and
	Baeyens, E. and Perez, R.},
  title = {Comparative analysis of collision-free path-planning methods for
	multi-manipulator systems},
  journal = {Robotica},
  year = {2006},
  volume = {24},
  pages = {711--726},
  number = {6},
  abstract = {Motion planning for manipulators with many degrees of freedom is a
	complex task. The research in this area has been mostly restricted
	to static environments. This paper presents a comparative analysis
	of three reactive on-line path-planning methods for manipulators:
	the elastic-strip, strategy-based and potential field methods. Both
	the elastic-strip method [O. Brock and O. Khatib, ``Elastic strips:
	A framework for integrated planning and execution,'' Int. Symp. Exp.
	Robot. 245&ndash;254 (1999)] and the potential field method [O. Khatib,
	``Real-time obstacle avoidance for manipulators and mobile robots,''
	Int. J. Robot. Res. 5(1), 90&ndash;98 (1986)] have been adapted by
	the authors to the problem at hand related to our multi-manipulator
	system (MMS) (three manipulators with five degrees of freedom each).
	Strategy-based method is an original contribution by the authors
	[M. Mediavilla, J. L. Gonz&aacute;lez, J. C. Fraile and J. R. Per&aacute;n,
	``Reactive approach to on-line path planning for robot manipulators
	in dynamic environments,'' Robotica 20, 375&ndash;384 (2002); M.
	Mediavilla, J. C. Fraile, T. Gonz&aacute;lez and I. J. Galindo, ``Selection
	of strategies for collision-free motion in multi-manipulator systems,''
	J. Intell. Robot Syst 38, 85&ndash;104 (2003)].The three methods
	facilitate on-line path planning for our MMS in dynamic environments
	with collision avoidance, where the three manipulators may move at
	the same time in their common workspace. We have defined some ``basic
	motion problems'' for the MMS, and a series of simulations has been
	running that will tell us how effective each path-planning method
	is. The simulations have been performed and the obtained results
	have been analysed by using a software program developed by the authors.The
	paper also presents experimental results obtained applying the path-planning
	methods to our MMS, that perform pick-and-place tasks sharing common
	working areas.},
  address = {New York, NY, USA},
  doi = {http://dx.doi.org/10.1017/S0263574706002888},
  issn = {0263-5747},
  owner = {Mihail},
  publisher = {Cambridge University Press},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Franck1997,
  author = {Franck, T. and Nielsen, T. N. and Stentz, A. },
  title = {Experimental verification of SBS suppression by duobinary modulation},
  booktitle = {Proc. and 23rd European Conference on Optical Communications (Conf
	Integrated Optics and Optical Fibre Communications, 11th International
	Conference on Publ. No.: 448)},
  year = {1997},
  volume = {1},
  pages = {71--74},
  month = sep # { 22--25,},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{frazzoli_dahleh_feron_02,
  author = {Emilio Frazzoli and Munther A. Dahleh and Eric Feron},
  title = {Real-Time Motion Planning for Agile Autonomous Vehicles},
  journal = {JOURNAL OF GUIDANCE, CONTROL, AND DYNAMICS},
  year = {2002},
  volume = {25},
  number = {1},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{frazzoli_dahleh_feron_01,
  author = {Frazzoli, E. and Dahleh, M.A. and Feron, E.},
  title = {Real-time motion planning for agile autonomous vehicles},
  booktitle = {Proc. of the American Control Conference},
  year = {2001},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{gaillard_etal_iros11,
  author = {Francois Gaillard and Michael Soulignac and Cedric Dinont and Philippe
	Mathieu},
  title = {Deterministic Kinodynamic Planning with Hardware Demonstrations},
  booktitle = {Proc. of the IEEE International Conference on Intelligent Robots
	and Systems},
  year = {2011},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@ARTICLE{garg_kumar_02,
  author = {Devendra P. Garg and Manish Kumar},
  title = {Optimization techniques applied to multiple manipulators for path
	planning and torque minimization},
  journal = {Engineering Applications of Artificial Intelligence},
  year = {2002},
  volume = {15},
  pages = {241-252},
  number = {3-4},
  owner = {Mihail},
  timestamp = {2010.03.09}
}

@ARTICLE{Gelenbe01,
  author = {E. Gelenbe and Ricardo Lent and Zhiguang Xu},
  title = {Design and analysis of cognitive packet networks},
  journal = {Performance Evaluation},
  year = {2001},
  pages = {155-76},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Gepp2009,
  author = {Gepp, Adrian and Stocks, Phil},
  title = {A review of procedures to evolve quantum algorithms},
  journal = {Genetic Programming and Evolvable Machines},
  year = {2009},
  volume = {10},
  pages = {181--228},
  number = {2},
  abstract = {There exist quantum algorithms that are more efficient than their
	classical counterparts; such algorithms were invented by Shor in
	1994 and then Grover in 1996. A lack of invention since Grover's
	algorithm has been commonly attributed to the non-intuitive nature
	of quantum algorithms to the classically trained person. Thus, the
	idea of using computers to automatically generate quantum algorithms
	based on an evolutionary model emerged. A limitation of this approach
	is that quantum computers do not yet exist and quantum simulation
	on a classical machine has an exponential order overhead. Nevertheless,
	early research into evolving quantum algorithms has shown promise.
	This paper provides an introduction into quantum and evolutionary
	algorithms for the computer scientist not familiar with these fields.
	The exciting field of using evolutionary algorithms to evolve quantum
	algorithms is then reviewed.},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1007/s10710-009-9080-7},
  issn = {1389-2576},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{GilJones2006,
  author = {Gil Jones, E. and Browning, B. and Dias, M. B. and Argall, B. and
	Veloso, M. and Stentz, A. },
  title = {Dynamically formed heterogeneous robot teams performing tightly-coordinated
	tasks},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2006},
  year = {2006},
  pages = {570--575},
  month = may # { 15--19,},
  doi = {10.1109/ROBOT.2006.1641771},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{gilbert_etal_jra88,
  author = {Gilbert, E. G. and Johnson, D. W. and Keerthi, S. S.},
  title = {A fast procedure for computing the distance between complex objects
	in three-dimensional space},
  journal = JRA,
  year = {1988},
  volume = {4},
  pages = {193--203},
  number = {2},
  abstract = {An algorithm for computing the Euclidean distance between a pair of
	convex sets in <e1>R</e1><sup>m</sup> is described. Extensive numerical
	experience with a broad family of polytopes in <e1>R</e1><sup>3</sup>
	shows that the computational cost is approximately linear in the
	total number of vertices specifying the two polytopes. The algorithm
	has special features which makes its application in a variety of
	robotics problems attractive. These features are discussed and an
	example of collision detection is given},
  doi = {10.1109/56.2083},
  owner = {mihail},
  timestamp = {2012.01.27}
}

@INPROCEEDINGS{Gilboa2006,
  author = {Gilboa, Arnon and Meisels, Amnon and Felner, Ariel},
  title = {Distributed navigation in an unknown physical environment},
  booktitle = {AAMAS '06: Proceedings of the fifth international joint conference
	on Autonomous agents and multiagent systems},
  year = {2006},
  pages = {553--560},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/1160633.1160735},
  isbn = {1-59593-303-4},
  location = {Hakodate, Japan},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{Glynn94,
  author = {Peter W. Glynn},
  title = {Importance sampling for {Markov} chains: Asymptotics for the variance},
  journal = {Commun. Statist. -- Stochastic Models},
  year = {1994},
  volume = {10},
  pages = {701--717},
  number = {4},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/glynn94importance.html}
}

@ARTICLE{Glynn90,
  author = {Peter W. Glynn},
  title = {Likelihood ratio gradient estimation for stochastic systems},
  journal = cacm,
  year = {1990},
  volume = {33},
  pages = {75--84},
  number = {10},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/glynn95likelihood.html}
}

@ARTICLE{Glynn89,
  author = {Peter W. Glynn},
  title = {Importance Sampling for Stochastic Simulations},
  journal = {Management Science},
  year = {1989},
  volume = {35},
  pages = {1367-92},
  number = {11},
  __markedentry = {[mihail]},
  annote = {rare event simulation, REMARK: Not in resim-folder!!!, importance
	sampling},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Glynn86,
  author = {Peter W. Glynn},
  title = {Optimization of stochastic systems},
  booktitle = {Proceedings of the Winter Simulation Conference},
  year = {1986},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Glynn01,
  author = {Peter W. Glynn and Dirk Ormoneit},
  title = {Hoeffding's Inequality for Uniformly Ergodic {Markov} Chains},
  journal = {Statistical Science},
  year = {2001},
  volume = {35},
  pages = {1367-92},
  number = {11},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Go2004,
  author = {Go, Jared and Vu, Thuc and Kuffner, James J.},
  title = {Autonomous behaviors for interactive vehicle animations},
  booktitle = {SCA '04: Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium
	on Computer animation},
  year = {2004},
  pages = {9--18},
  address = {Aire-la-Ville, Switzerland, Switzerland},
  publisher = {Eurographics Association},
  abstract = {We present a method for synthesizing animations of autonomous space,
	water, and land-based vehicles in games or other interactive simulations.
	Controlling the motion of such vehicles to achieve a desirable behavior
	is difficult due to the constraints imposed by the system dynamics.
	We combine real-time path planning and a simplified physics model
	to automatically compute control actions to drive a vehicle from
	an input state to desirable output states based on a behavior cost
	function. Both offline trajectory preprocessing and online search
	are used to build an animation framework suitable for interactive
	vehicle simulations. We demonstrate synthesized animations of spacecraft
	performing a variety of autonomous behaviors, including &#60;i>Seek,
	Pursue, Avoid, Avoid Collision&#60;/i>, and &#60;i>Flee&#60;/i>.
	We also explore several enhancements to the basic planning algorithm
	and examine the resulting tradeoffs in runtime performance and quality
	of the generated motion.},
  doi = {http://doi.acm.org/10.1145/1028523.1028525},
  isbn = {3-905673-14-2},
  location = {Grenoble, France},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@ARTICLE{Go2006,
  author = {Go, Jared and Vu, Thuc D. and Kuffner, James J.},
  title = {Autonomous behaviors for interactive vehicle animations},
  journal = {Graph. Models},
  year = {2006},
  volume = {68},
  pages = {90--112},
  number = {2},
  abstract = {We present a method for synthesizing animations of autonomous space,
	water, and land-based vehicles in games or other interactive simulations.
	Controlling the motion of such vehicles to achieve a desirable behavior
	is difficult due to the constraints imposed by the system dynamics.
	We combine real-time path planning and a simplified physics model
	to automatically compute control actions to drive a vehicle from
	an input state to desirable output states based on a behavior cost
	function. Both offline trajectory preprocessing and online search
	are used to build an animation framework suitable for interactive
	vehicle simulations. We demonstrate synthesized animations of simulated
	spacecraft and automobiles performing a variety of autonomous behaviors,
	including Seek, Pursue, Avoid, Avoid Obstacle, and Flee. We also
	explore several enhancements to the basic planning algorithm and
	examine the resulting tradeoffs in runtime performance and quality
	of the generated motion.},
  address = {San Diego, CA, USA},
  doi = {http://dx.doi.org/10.1016/j.gmod.2005.04.003},
  issn = {1524-0703},
  owner = {Mihail},
  publisher = {Academic Press Professional, Inc.},
  timestamp = {2010.06.29}
}

@BOOK{Faust,
  title = {Faust},
  year = {1833},
  author = {Johann Wolfgang von Goethe},
  volume = {2},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{goldberg_maimone_matthies_02,
  author = {Goldberg, S. and Maimone, M. and Matthies, L.},
  title = {Stereo vision and rover navigation software for planetary exploration},
  booktitle = {Proc. of IEEE Aerospace Conference},
  year = {2002},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Gomez98,
  author = {Faustino Gomez and Risto Miikkulainen},
  title = {2-D Pole Balancing with Recurrent Evolutionary Networks},
  booktitle = {Proceedings of the Intl Conf on Artificial Neural Networks},
  year = {1998},
  pages = {758-763},
  publisher = {Elsevier},
  __markedentry = {[mihail]},
  optaddress = {New York, NY},
  optlocation = {Sweden, Skovde},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Gonzalez1992,
  author = {Gonzalez, J. and Stentz, A. and Ollero, A. },
  title = {An iconic position estimator for a 2D laser rangefinder},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1992},
  pages = {2646--2651},
  month = may # { 12--14,},
  doi = {10.1109/ROBOT.1992.220043},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Gonzalez2009,
  author = {Gonzalez, J. P. and Stentz, A. },
  title = {Using linear landmarks for path planning with uncertainty in outdoor
	environments},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2009},
  year = {2009},
  pages = {1203--1210},
  month = oct # { 10--15,},
  doi = {10.1109/IROS.2009.5354742},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Gonzalez2008,
  author = {Gonzalez, J. P. and Stentz, A. },
  title = {Replanning with uncertainty in position: Sensor updates vs. prior
	map updates},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2008},
  year = {2008},
  pages = {1806--1813},
  month = may # { 19--23,},
  doi = {10.1109/ROBOT.2008.4543470},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Gonzalez2005,
  author = {Gonzalez, J. P. and Stentz, A. },
  title = {Planning with uncertainty in position an optimal and efficient planner},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems (IROS 2005)},
  year = {2005},
  pages = {2435--2442},
  month = aug # { 2--6,},
  doi = {10.1109/IROS.2005.1545048},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Gonzalez2007,
  author = {Gonzalez, J. P. and Stentz, A. T. },
  title = {Planning with Uncertainty in Position Using High-Resolution Maps},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {2007},
  pages = {1015--1022},
  month = apr # { 10--14,},
  doi = {10.1109/ROBOT.2007.363118},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{gosselin_angeles_91,
  author = {C. Gosselin and J. Angeles},
  title = {A Global Performance Index for the Kinematic Optimization of Robotic
	Manipulators},
  journal = {Journal of Mechanical Design},
  year = {1991},
  volume = {113},
  number = {3},
  abstract = {In this paper, a novel performance index for the kinematic optimization
	of robotic manipulators is presented. The index is based on the condition
	number of the Jacobian matrix of the manipulator, which is known
	to be a measure of the amplification of the errors due to the kinematic
	and static transformations between the joint and Cartesian spaces.
	Moreover, the index proposed here, termed global conditioning index
	(CGI), is meant to assess the distribution of the aforementioned
	condition number over the whole workspace. Furthermore, the concept
	of a global index is applicable to other local kinematic or dynamic
	indices. The index introduced here is applied to a simple serial
	two-link manipulator, to a spherical three-degree-of-freedom serial
	wrist, and to three-degree-of-freedom parallel planar and spherical
	manipulators. Results of the optimization of these manipulators,
	based on the GCI, are included.},
  owner = {Mihail},
  timestamp = {2010.03.04}
}

@ARTICLE{Goto1987,
  author = {Goto, Yoshimasa and Stentz, Anthony},
  title = {Mobile Robot Navigation: The CMU System},
  journal = {IEEE Expert},
  year = {1987},
  volume = {2},
  pages = {44--54},
  number = {4},
  month = jan,
  doi = {10.1109/MEX.1987.5006533},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Goto1987a,
  author = {Goto, Y. and Stentz, A. },
  title = {The CMU system for mobile robot navigation},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1987},
  volume = {4},
  pages = {99--105},
  month = mar,
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{gottschalk_lin_manocha_96,
  author = {Gottschalk, S. and Lin, M. and Manocha, D.},
  title = {OBB-Tree: A hierarchical structure for rapid interference detection},
  booktitle = {Proc. of ACM SIGGRAPH},
  year = {1996},
  pages = {171-180},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{green_kelly_07,
  author = {Colin Green and Alonzo Kelly},
  title = {Toward Optimal Sampling in the Space of Paths},
  booktitle = {13th International Symposium of Robotics Research},
  year = {2007},
  owner = {Mihail},
  timestamp = {2010.06.28}
}

@INPROCEEDINGS{green_kelly_isrr07,
  author = {C. Green and A. Kelly},
  title = {Toward Optimal Sampling in the Space of Paths},
  booktitle = {Proc. of the Int. Symp. of Robotics Research},
  year = {2007},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{UngarAAAI00,
  author = {Grudic, G. Z. and Ungar, L. H.},
  title = {Localizing Search in Reinforcement Learning},
  booktitle = aaai00,
  year = {2000},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{UngarICML00,
  author = {Grudic, G. Z. and Ungar, L. H.},
  title = {Localizing Policy Gradient Estimates to Action Transitions},
  booktitle = ml00,
  year = {2000},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Gudaitis1995,
  author = {Gudaitis, Michael S. and Lamont, Gary B. and Terzuoli, Andrew J.},
  title = {Multicriteria vehicle route-planning using parallel A<supscrpt> *</supscrpt>
	search},
  booktitle = {SAC '95: Proceedings of the 1995 ACM symposium on Applied computing},
  year = {1995},
  pages = {171--176},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/315891.315949},
  isbn = {0-89791-658-1},
  location = {Nashville, Tennessee, United States},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@INPROCEEDINGS{,
  author = {Haddad, H. and Khatib, M. and Lacroix, S. and Chatila, R. },
  title = {Reactive navigation in outdoor environments using potential fields},
  booktitle = {Proc. IEEE Int Robotics and Automation Conf},
  year = {1998},
  volume = {2},
  pages = {1232--1237},
  abstract = {The paper presents an approach to reactive navigation in cross-country
	terrains. The approach relies on a particular probabilistic obstacle
	detection procedure, that describes the area perceived by a pair
	of stereo cameras as a set of polygonal cells. To generate the motion
	commands on the basis of this terrain description, we present some
	improvements and adaptations to the classical potential fields technique.
	Results on real stereo data illustrate our contribution throughout
	the paper, and simulated long range traverses are discussed},
  doi = {10.1109/ROBOT.1998.677268},
  owner = {mihail},
  timestamp = {2012.01.18}
}

@ARTICLE{Halatci2008,
  author = {Halatci, Ibrahim and Brooks, Christopher a. and Iagnemma, Karl},
  title = {A study of visual and tactile terrain classification and classifier
	fusion for planetary exploration rovers},
  journal = {Robotica},
  year = {2008},
  volume = {26},
  pages = {767--779},
  number = {6},
  address = {New York, NY, USA},
  doi = {http://dx.doi.org/10.1017/S0263574708004360},
  issn = {0263-5747},
  owner = {Mihail},
  publisher = {Cambridge University Press},
  timestamp = {2010.01.17}
}

@BOOK{Halmos,
  title = {Measure Theory},
  publisher = {Van Nostrand Company},
  year = {1950},
  author = {Halmos, Paul},
  address = {Princeton, NJ},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{halton_60,
  author = {J.H. Halton},
  title = {On the efficiency of certain quasi-random sequences of points in
	evaluating multi-dimensional integrals},
  journal = {Numerische Mathematik},
  year = {1960},
  volume = {2},
  pages = {84-90},
  number = {1},
  month = {December},
  owner = {Mihail},
  timestamp = {2010.06.30}
}

@PHDTHESIS{HansenPhD,
  author = {E.A. Hansen},
  title = {Finite-Memory Control of Partially Observable Systems},
  school = {University of Massachusetts at Amherst},
  year = {1998},
  address = {Amherst, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{HansenUAI98,
  author = {E.A. Hansen},
  title = {Solving {POMDP}s by searching in policy space},
  booktitle = uai98,
  year = {1998},
  pages = {211-219},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  optaddress = {Madison, WI},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Hart1968,
  author = {Hart, P. E. and Nilsson, N. J. and Raphael, B. },
  title = {A Formal Basis for the Heuristic Determination of Minimum Cost Paths},
  journal = {IEEE Transactions on Systems Science and Cybernetics},
  year = {1968},
  volume = {4},
  pages = {100--107},
  number = {2},
  abstract = {Although the problem of determining the minimum cost path through
	a graph arises naturally in a number of interesting applications,
	there has been no underlying theory to guide the development of efficient
	search procedures. Moreover, there is no adequate conceptual framework
	within which the various ad hoc search strategies proposed to date
	can be compared. This paper describes how heuristic information from
	the problem domain can be incorporated into a formal mathematical
	theory of graph searching and demonstrates an optimality property
	of a class of search strategies.},
  doi = {10.1109/TSSC.1968.300136},
  issn = {0536-1567},
  owner = {Mihail},
  timestamp = {2010.01.22}
}

@INPROCEEDINGS{Haspel2009,
  author = {Haspel, N. and Moll, M. and Baker, M. L. and Chiu, Wah and Kavraki,
	L. E. },
  title = {Tracing conformational changes in proteins},
  booktitle = {Proc. IEEE International Conference on Bioinformatics and Biomedicine
	Workshop BIBMW 2009},
  year = {2009},
  pages = {120--127},
  abstract = {Many proteins undergo extensive conformational changes as part of
	their functionality. Tracing these changes is important for understanding
	the way these proteins function. Traditional biophysics-based conformational
	search methods require a large number of calculations and are hard
	to apply to large-scale conformational motions. In this work we investigate
	the application of a robotics-inspired method, using backbone and
	limited side chain representation and a coarse grained energy function
	to trace large-scale conformational motions. We tested the algorithm
	on three well known medium to large proteins and we show that even
	with relatively little information we are able to trace low-energy
	conformational pathways efficiently. The conformational pathways
	produced by our methods can be further filtered and refined to produce
	more useful information on the way proteins function under physiological
	conditions. Contact: Lydia E. Kavraki, kavraki@cs.rice.edu.},
  doi = {10.1109/BIBMW.2009.5332115},
  keywords = {biocontrol, information filtering, path planning, proteins, backbone
	side chain representation, biophysics-based conformational search
	methods, coarse grained energy function, large-scale conformational
	motions, limited side chain representation, low-energy conformational
	pathways, proteins function, robotics-inspired method},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@ARTICLE{Hauser2010,
  author = {Hauser, Kris and Latombe, Jean-Claude},
  title = {Multi-modal Motion Planning in Non-expansive Spaces},
  journal = {Int. J. Rob. Res.},
  year = {2010},
  volume = {29},
  pages = {897--915},
  number = {7},
  abstract = {Motion planning problems encountered in manipulation and legged locomotion
	have a distinctive multi-modal structure, where the space of feasible
	configurations consists of intersecting submanifolds, often of different
	dimensionalities. Such a feasible space does not possess expansiveness,
	a property that characterizes whether planning queries can be solved
	efficiently with traditional probabilistic roadmap (PRM) planners.
	In this paper we present a new PRM-based multi-modal planning algorithm
	for problems where the number of intersecting manifolds is finite.
	We also analyze the completeness properties of this algorithm. More
	specifically, we show that the algorithm converges quickly when each
	submanifold is individually expansive and establish a bound on the
	expected running time in that case. We also present an incremental
	variant of the algorithm that has the same convergence properties,
	but works better for problems with a large number of submanifolds
	by considering subsets of submanifolds likely to contain a solution
	path. These algorithms are demonstrated in geometric examples and
	in a legged locomotion planner.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364909352098},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.07.05}
}

@PHDTHESIS{HauskrechtPhD,
  author = {Milos Hauskrecht},
  title = {Planning and Control in Stochastic Domains with Imperfect Information},
  school = {Massachusetts Institute of Technology},
  year = {1998},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INBOOK{Haussler95,
  chapter = {Decision Theoretic Generalizations of the {PAC} Model for Neural
	Net and Other Learning Applications},
  title = {In {Wolpert, D. (Ed.)}: The Mathematics of Generalization},
  publisher = {Addison--Wesley},
  year = {1995},
  author = {David Haussler},
  volume = {XX},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Haussler92,
  author = {David Haussler},
  title = {Decision theoretic generalizations of the {PAC} model},
  journal = ic,
  year = {1992},
  volume = {100},
  pages = {78-150},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{He2009,
  author = {He, Xuejian and Chen, Yonghua},
  title = {Haptic-aided robot path planning based on virtual tele-operation},
  journal = {Robot. Comput.-Integr. Manuf.},
  year = {2009},
  volume = {25},
  pages = {792--803},
  number = {4-5},
  abstract = {The motivation of this work arises from the fact that it is very difficult
	for an automatic path planning method, e.g. probabilistic roadmap
	(PRM) to generate an optimized path, and sometimes it even fails
	for an automatic method to find a collision-free path, due to failure
	of discovering critical robot configurations. However, these critical
	configurations might be plain to an operator. Therefore, the advantages
	of human's intuition are exploited to facilitate the robot path planning
	process in this research. The objective of this paper is to combine
	the advantages of human's intuition or experiences and the huge computational
	power of computers to develop a semi-automatic robot path planner
	that can generate an user-preferred collision-free robot path. In
	the path planning process, the user interaction is made easy by the
	development of a haptically controlled virtual robot. By virtual
	tele-robot manipulation, a user can define or modify critical robot
	configurations based on which collision-free robot path can be automatically
	generated.},
  address = {Tarrytown, NY, USA},
  doi = {http://dx.doi.org/10.1016/j.rcim.2008.12.002},
  issn = {0736-5845},
  owner = {Mihail},
  publisher = {Pergamon Press, Inc.},
  timestamp = {2010.07.05}
}

@BOOK{Hebb49,
  title = {The Organization of Behavior},
  year = {1949},
  author = {D. O. Hebb},
  address = {New York, NY},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Hebert1998,
  author = {Hebert, M. and Stentz, A. and Thorpe, C. },
  title = {Mobility planning for autonomous navigation of multiple robots in
	unstructured environments},
  booktitle = {Proc. IEEE International Symposium on Intelligent Control (ISIC)
	Held jointly with IEEE International Symposium on Computational Intelligence
	in Robotics and Automation (CIRA), Intelligent Systems and Semiotics
	(ISAS)},
  year = {1998},
  pages = {652--657},
  month = sep # { 14--17,},
  doi = {10.1109/ISIC.1998.713788},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{Hentschel2007,
  author = {Hentschel, Matthias and Wulf, Oliver and Wagner, Bernardo},
  title = {A hybrid feedback controller for car-like robots - combining reactive
	obstacle avoidance and global replanning},
  journal = {Integr. Comput.-Aided Eng.},
  year = {2007},
  volume = {14},
  pages = {3--14},
  number = {1},
  address = {Amsterdam, The Netherlands, The Netherlands},
  issn = {1069-2509},
  owner = {Mihail},
  publisher = {IOS Press},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{higashi_etal_amc98,
  author = {Higashi, S. and Komada, S. and Ishida, M. and Hori, T.},
  title = {Obstacle Avoidance of Redundant Manipulators on Visual Servo System
	Using Estimated Image Features},
  booktitle = {Proceedings of the International Workshop on Advanced Motion Control},
  year = {1998},
  owner = {mihail},
  timestamp = {2011.09.07}
}

@ARTICLE{HintonDayan95,
  author = {G. Hinton and P. Dayan and B. Frey and N. Radford},
  title = {The Wake-Sleep Algorithm for Unsupervised Neural Networks},
  journal = {Science},
  year = {1995},
  volume = {268},
  pages = {1158-1160},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Hinton87,
  author = {G. Hinton and J. McCleland},
  title = {Learning Representations by Recirculation},
  booktitle = nips,
  year = {1987},
  editor = {D. Anderson},
  volume = {1},
  address = {Cambridge, MA},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Hochreiter97,
  author = {S. Hochreiter and Juergen Schmidhuber},
  title = {Flat minima},
  journal = nc,
  year = {1997},
  volume = {9},
  pages = {1-42},
  number = {1},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Hoeffding63,
  author = {Wassily Hoeffding},
  title = {Probability inequalities for sums of bounded random variables},
  journal = {Journal of the American Statistical Association},
  year = {1963},
  volume = {58},
  pages = {13--30},
  number = {301},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{HougenICML00,
  author = {Dean F. Hougen and Maria Gini and James Slagle},
  title = {An Integrated Connectionist Approach to Reinforcement Learning for
	Robotic Control},
  booktitle = ml00,
  year = {2000},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Howard60,
  title = {Dynamic Programming and {Markov} Processes},
  publisher = {The {MIT} Press},
  year = {1960},
  author = {Ronald A. Howard},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@PHDTHESIS{howard_thesis,
  author = {Thomas Howard},
  title = {Adaptive Model-Predictive Motion Planning for Navigation in Complex
	Environments},
  school = {Carnegie Mellon University},
  year = {2009},
  month = {August},
  owner = {Mihail},
  timestamp = {2010.04.26}
}

@ARTICLE{howard_kelly_ijrr07,
  author = {T.M. Howard and A. Kelly},
  title = {Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots},
  journal = {International Journal of Robotics Research},
  year = {2007},
  volume = {26},
  pages = {141-166},
  number = {2},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{howard_kelly_05,
  author = {Howard, T. and Kelly, A.},
  title = {Trajectory generation on rough terrain considering actuator dynamics},
  booktitle = {Proc. of the 5th International Conference on Field and Service Robotics},
  year = {2005},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{howard_kelly_05b,
  author = {Howard, T. and Kelly, A.},
  title = {Terrain-adaptive generation of optimal continuous trajectories for
	mobile robots},
  booktitle = {Proc. of the International Symposium on Artificial Intelligence,
	Robotics and Automation in Space},
  year = {2005},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{howard_knepper_kelly_iser06,
  author = {T. Howard and R. Knepper and A. Kelly},
  title = {Constrained Optimization Path Following of Wheeled Robots in Natural
	Terrain},
  booktitle = {Proc. of the Int. Symp. on Experimental Robotics},
  year = {2006},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Howard2007,
  author = {Howard, Thomas M. and Kelly, Alonzo},
  title = {Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots},
  journal = {Int. J. Rob. Res.},
  year = {2007},
  volume = {26},
  pages = {141--166},
  number = {2},
  abstract = {An algorithm is presented for wheeled mobile robot trajectory generation
	that achieves a high degree of generality and efficiency. The generality
	derives from numerical linearization and inversion of forward models
	of propulsion, suspension, and motion for any type of vehicle. Efficiency
	is achieved by using fast numerical optimization techniques and effective
	initial guesses for the vehicle controls parameters. This approach
	can accommodate such effects as rough terrain, vehicle dynamics,
	models of wheel-terrain interaction, and other effects of interest.
	It can accommodate boundary and internal constraints while optimizing
	an objective function that might, for example, involve such criteria
	as obstacle avoidance, cost, risk, time, or energy consumption in
	any combination. The algorithm is efficient enough to use in real
	time due to its use of nonlinear programming techniques that involve
	searching the space of parameterized vehicle controls. Applications
	of the presented methods are demonstrated for planetary rovers.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364906075328},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.01.20}
}

@PHDTHESIS{hsu,
  author = {Hsu, D.},
  title = {Randomized single-query motion planning in expansive spaces},
  school = {Computer Science Dept., Stanford University},
  year = {2000},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Hsu1998,
  author = {Hsu, David and Kavraki, Lydia E. and Latombe, Jean-Claude and Motwani,
	Rajeev and Sorkin, Stephen},
  title = {On finding narrow passages with probabilistic roadmap planners},
  booktitle = {WAFR '98: Proceedings of the third workshop on the algorithmic foundations
	of robotics on Robotics : the algorithmic perspective},
  year = {1998},
  pages = {141--153},
  address = {Natick, MA, USA},
  publisher = {A. K. Peters, Ltd.},
  isbn = {1-56881-081-4},
  location = {Houston, Texas, United States},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@ARTICLE{hsu_kindel_latombe_rock_ijrr02,
  author = {D. Hsu and R. Kindel and J.-C. Latombe S. Rock},
  title = {Randomized kinodynamic motion planning with moving obstacles},
  journal = ijrr,
  year = {2002},
  volume = {21},
  pages = {233-255},
  number = {3},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Hsu2006,
  author = {Hsu, David and Latombe, Jean-Claude and Kurniawati, Hanna},
  title = {On the Probabilistic Foundations of Probabilistic Roadmap Planning},
  journal = {Int. J. Rob. Res.},
  year = {2006},
  volume = {25},
  pages = {627--643},
  number = {7},
  abstract = {Why is probabilistic roadmap (PRM) planning probabilistic? How does
	the probability measure used for sampling a robot's configuration
	space affect the performance of a PRM planner? These questions have
	received little attention to date. This paper tries to fill this
	gap and identify promising directions to improve future planners.
	It introduces the probabilistic foundations of PRM planning and examines
	previous work in this context. It shows that the success of PRM planning
	depends mainly and critically on favorable "visibility" properties
	of a robot's configuration space. A promising direction for speeding
	up PRM planners is to infer partial knowledge of such properties
	from both workspace geometry and information gathered during roadmap
	construction, and to use this knowledge to adapt the probability
	measure for sampling. This paper also shows that the choice of the
	sampling source--pseudo-random or deterministic--has small impact
	on a PRM planner's performance, compared with that of the sampling
	measure. These conclusions are supported by both theoretical and
	empirical results.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364906067174},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Hsu1997,
  author = {Hsu, D. and Latombe, J.-C. and Motwani, R.},
  title = {Path planning in expansive configuration spaces},
  booktitle = {Proc. Conf. IEEE Int Robotics and Automation},
  year = {1997},
  volume = {3},
  pages = {2719--2726},
  abstract = {We introduce the notion of expansiveness to characterize a family
	of robot configuration spaces whose connectivity can be effectively
	captured by a roadmap of randomly-sampled milestones. The analysis
	of expansive configuration spaces has inspired us to develop a new
	randomized planning algorithm. This algorithm tries to sample only
	the portion of the configuration space that is relevant to the current
	query, avoiding the cost of precomputing a roadmap for the entire
	configuration space. Thus, it is well-suited for problems where a
	single query is submitted for a given environment. The algorithm
	has been implemented and successfully applied to complex assembly
	maintainability problems from the automotive industry},
  doi = {10.1109/ROBOT.1997.619371},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{Wellman,
  author = {Hu, Junling and Wellman, Michael P.},
  title = {Multiagent Reinforcement Learning: Theoretical Framework and an Algorithm},
  booktitle = ml98,
  year = {1998},
  pages = {242-250},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Huang2003,
  author = {Huang, W. H. and Babu, K. and Bandlow, J. A. },
  title = {Cartop manipulation},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'03},
  year = {2003},
  volume = {3},
  pages = {3613--3618},
  month = sep # { 14--19,},
  doi = {10.1109/ROBOT.2003.1242150},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{huntsberger_woodward_11,
  author = {Huntsberger, Terry and Woodward, Gail},
  title = {Intelligent autonomy for unmanned surface and underwater vehicles},
  booktitle = {Proc. OCEANS},
  year = {2011},
  pages = {1--10},
  abstract = {As the Autonomous Underwater Vehicle (AUV) and Autonomous Surface
	Vehicle (ASV) platforms mature in endurance and reliability, a natural
	evolution will occur towards longer, more remote autonomous missions.
	This evolution will require the development of key capabilities that
	allow these robotic systems to perform a high level of on-board decision-making,
	which would otherwise be performed by human operators. With more
	decision making capabilities, less a priori knowledge of the area
	of operations would be required, as these systems would be able to
	sense and adapt to changing environmental conditions, such as unknown
	topography, currents, obstructions, bays, harbors, islands, and river
	channels. Existing vehicle sensors would be dual-use; that is they
	would be utilized for the primary mission, which may be mapping or
	hydrographic reconnaissance; as well as for autonomous hazard avoidance,
	route planning, and bathymetric-based navigation. This paper describes
	a tightly integrated instantiation of an autonomous agent called
	CARACaS (Control Architecture for Robotic Agent Command and Sensing)
	developed at JPL (Jet Propulsion Laboratory) that was designed to
	address many of the issues for survivable ASV/AUV control and to
	provide adaptive mission capabilities. The results of some on-water
	tests with US Navy technology test platforms are also presented.},
  owner = {mihail},
  timestamp = {2012.01.13}
}

@ARTICLE{webster_etal_ijrr06,
  author = {Robert J. Webster III and Jin Seob Kim and Noah J. Cowan and Gregory
	S. Chirikjian and Allison M. Okamura},
  title = {Nonholonomic Modeling of Needle Steering},
  journal = {International Journal of Robotics Research},
  year = {2006},
  volume = {25},
  pages = {509-525},
  number = {5-6},
  month = {5},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{Inoue2002,
  author = {Inoue, K. and Nishihama, Y. and Arai, T. and Mae, Y. },
  title = {Mobile manipulation of humanoid robots-body and leg control for dual
	arm manipulation},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'02},
  year = {2002},
  volume = {3},
  pages = {2259--2264},
  abstract = {A control method for humanoid robots of mobile manipulation is proposed.
	A robot autonomously steps or controls its body pose while performing
	various manipulation tasks with its hands; that enables dexterous
	and stable manipulation. Two hands always move along their desired
	trajectories by impedance control for carrying out a given task.
	Coordinating with this motion of the hands, the robot controls its
	body and legs so that arm manipulability and robot stability may
	increase. It determines the next foothold by evaluating manipulabilities
	of both arms, shape of stable region and moving direction. An evaluation
	function consisting of manipulabilities of both arms and static stability
	of the robot is defined, and the robot steps if the new double support
	state is better than the current one. Both in double and single support
	states, the robot controls its body pose using the support leg(s)
	so that this evaluation may be optimal. Various motions of a humanoid
	robot by the proposed method are simulated},
  doi = {10.1109/ROBOT.2002.1013568},
  keywords = {dexterous manipulators, digital simulation, force control, legged
	locomotion, position control, arm manipulability, body control, body
	pose, double support state, dual arm manipulation, humanoid robots,
	impedance control, leg control, mobile manipulation, robot stability,
	single support states, static stability},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Inoue2000,
  author = {Inoue, K. and Yoshida, H. and Arai, T. and Mae, Y. },
  title = {Mobile manipulation of humanoids-real-time control based on manipulability
	and stability},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'00},
  year = {2000},
  volume = {3},
  pages = {2217--2222},
  month = apr # { 24--28,},
  doi = {10.1109/ROBOT.2000.846357},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Jaakkola98,
  author = {Jaakkola, Tommi and Haussler, David},
  title = {Exploiting generative models in discriminative classifiers},
  booktitle = nips,
  year = {1998},
  volume = {11},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INCOLLECTION{Jaakkola94a,
  author = {Tommi Jaakkola and Satinder P. Singh and Michael I. Jordan},
  title = {Reinforcement learning algorithm for partially observable {M}arkov
	problems},
  booktitle = nips,
  publisher = {The {MIT} Press},
  year = {1994},
  volume = {7},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{jaillet_etal_iros11,
  author = {Jaillet, Leonard and Hoffman, Judy and van den Berg, Jur and Abbeel,
	Pieter and Porta, Josep M. and Goldberg, Ken},
  title = {EG-RRT: Environment-guided random trees for kinodynamic motion planning
	with uncertainty and obstacles},
  booktitle = {Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf},
  year = {2011},
  pages = {2646--2652},
  abstract = {Existing sampling-based robot motion planning methods are often inefficient
	at finding trajectories for kinodynamic systems, especially in the
	presence of narrow passages between obstacles and uncertainty in
	control and sensing. To address this, we propose EG-RRT, an Environment-Guided
	variant of RRT designed for kinodynamic robot systems that combines
	elements from several prior approaches and may incorporate a cost
	model based on the LQG-MP framework to estimate the probability of
	collision under uncertainty in control and sensing. We compare the
	performance of EG-RRT with several prior approaches on challenging
	sample problems. Results suggest that EG-RRT offers significant improvements
	in performance.},
  doi = {10.1109/IROS.2011.6094802},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@ARTICLE{jean_01,
  author = {Jean, F.},
  title = {Complexity of nonholonomic motion planning},
  journal = {International Journal of Control},
  year = {2001},
  volume = {74},
  pages = {776-782},
  number = {8},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Jockel2009,
  author = {Jockel, S. and Lindner, F. and Jianwei Zhang},
  title = {Sparse distributed memory for experience-based robot manipulation},
  booktitle = {Proc. IEEE International Conference on Robotics and Biomimetics ROBIO
	2008},
  year = {2009},
  pages = {1298--1303},
  month = feb # { 22--25,},
  doi = {10.1109/ROBIO.2009.4913187},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@TECHREPORT{KaeKimMeuPes99,
  author = {Kaelbling, Leslie P. and Kim, Kee-Eung and Nicolas Meuleau and Leonid
	Peshkin},
  title = {Searching for finite-state {POMDP} controllers},
  institution = {Brown-University},
  year = {1999},
  number = {{CS}-99-06},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Kaelbling98,
  author = {Leslie P. Kaelbling and Michael L. Littman and Anthony R. Cassandra},
  title = {Planning and Acting in Partially Observable Stochastic Domains},
  journal = aij,
  year = {1998},
  volume = {101},
  pages = {1-45},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Kaelbling96,
  author = {Leslie P. Kaelbling and Michael L. Littman and Andrew W. Moore},
  title = {Reinforcement Learning: A Survey},
  journal = jair,
  year = {1996},
  volume = {4},
  pages = {237-277},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Kahn53,
  author = {Kahn, H. and Marshall, A.},
  title = {Methods of reducing sample size in {M}onte {C}arlo computations},
  journal = {Journal of the Operations Research Society of America},
  year = {1953},
  volume = {1},
  pages = {263-278},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{KakadeNIPS01,
  author = {Sham Kakade},
  title = {A natural policy gradient},
  booktitle = nips,
  year = {2001},
  volume = {13},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Kakade01,
  author = {Sham Kakade and Peter Dayan},
  title = {Dopamine bonuses},
  journal = nn,
  year = {2001},
  pages = {131-137},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{,
  author = {Kalakrishnan, M. and Buchli, J. and Pastor, P. and Mistry, M. and
	Schaal, S. },
  title = {Fast, robust quadruped locomotion over challenging terrain},
  booktitle = {Proc. IEEE Int Robotics and Automation (ICRA) Conf},
  year = {2010},
  pages = {2665--2670},
  abstract = {We present a control architecture for fast quadruped locomotion over
	rough terrain. We approach the problem by decomposing it into many
	sub-systems, in which we apply state-of-the-art learning, planning,
	optimization and control techniques to achieve robust, fast locomotion.
	Unique features of our control strategy include: (1) a system that
	learns optimal foothold choices from expert demonstration using terrain
	templates, (2) a body trajectory optimizer based on the Zero-Moment
	Point (ZMP) stability criterion, and (3) a floating-base inverse
	dynamics controller that, in conjunction with force control, allows
	for robust, compliant locomotion over unperceived obstacles. We evaluate
	the performance of our controller by testing it on the LittleDog
	quadruped robot, over a wide variety of rough terrain of varying
	difficulty levels. We demonstrate the generalization ability of this
	controller by presenting test results from an independent external
	test team on terrains that have never been shown to us.},
  doi = {10.1109/ROBOT.2010.5509805},
  owner = {mihail},
  timestamp = {2012.01.03}
}

@INPROCEEDINGS{,
  author = {Kalakrishnan, M. and Buchli, J. and Pastor, P. and Schaal, S. },
  title = {Learning locomotion over rough terrain using terrain templates},
  booktitle = {Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems IROS 2009},
  year = {2009},
  pages = {167--172},
  abstract = {We address the problem of foothold selection in robotic legged locomotion
	over very rough terrain. The difficulty of the problem we address
	here is comparable to that of human rock-climbing, where foot/hand-hold
	selection is one of the most critical aspects. Previous work in this
	domain typically involves defining a reward function over footholds
	as a weighted linear combination of terrain features. However, a
	significant amount of effort needs to be spent in designing these
	features in order to model more complex decision functions, and hand-tuning
	their weights is not a trivial task. We propose the use of terrain
	templates, which are discretized height maps of the terrain under
	a foothold on different length scales, as an alternative to manually
	designed features. We describe an algorithm that can simultaneously
	learn a small set of templates and a foothold ranking function using
	these templates, from expert-demonstrated footholds. Using the LittleDog
	quadruped robot, we experimentally show that the use of terrain templates
	can produce complex ranking functions with higher performance than
	standard terrain features, and improved generalization to unseen
	terrain.},
  doi = {10.1109/IROS.2009.5354701},
  owner = {mihail},
  timestamp = {2012.01.03}
}

@INPROCEEDINGS{kalakrishnan_etal_icra11,
  author = {Kalakrishnan, M. and Chitta, S. and Theodorou, E. and Pastor, P.
	and Schaal, S.},
  title = {STOMP: Stochastic trajectory optimization for motion planning},
  booktitle = {Proc. IEEE Int Robotics and Automation (ICRA) Conf},
  year = {2011},
  pages = {4569--4574},
  abstract = {We present a new approach to motion planning using a stochastic trajectory
	optimization framework. The approach relies on generating noisy trajectories
	to explore the space around an initial (possibly infeasible) trajectory,
	which are then combined to produced an updated trajectory with lower
	cost. A cost function based on a combination of obstacle and smoothness
	cost is optimized in each iteration. No gradient information is required
	for the particular optimization algorithm that we use and so general
	costs for which derivatives may not be available (e.g. costs corresponding
	to constraints and motor torques) can be included in the cost function.
	We demonstrate the approach both in simulation and on a mobile manipulation
	system for unconstrained and constrained tasks. We experimentally
	show that the stochastic nature of STOMP allows it to overcome local
	minima that gradient-based methods like CHOMP can get stuck in.},
  doi = {10.1109/ICRA.2011.5980280},
  owner = {mihail},
  timestamp = {2012.01.03}
}

@INPROCEEDINGS{,
  author = {Kalakrishnan, Mrinal and Righetti, Ludovic and Pastor, Peter and
	Schaal, Stefan},
  title = {Learning force control policies for compliant manipulation},
  booktitle = {Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf},
  year = {2011},
  pages = {4639--4644},
  abstract = {Developing robots capable of fine manipulation skills is of major
	importance in order to build truly assistive robots. These robots
	need to be compliant in their actuation and control in order to operate
	safely in human environments. Manipulation tasks imply complex contact
	interactions with the external world, and involve reasoning about
	the forces and torques to be applied. Planning under contact conditions
	is usually impractical due to computational complexity, and a lack
	of precise dynamics models of the environment. We present an approach
	to acquiring manipulation skills on compliant robots through reinforcement
	learning. The initial position control policy for manipulation is
	initialized through kinesthetic demonstration. We augment this policy
	with a force/torque profile to be controlled in combination with
	the position trajectories. We use the Policy Improvement with Path
	Integrals (PI<sup>2</sup>) algorithm to learn these force/torque
	profiles by optimizing a cost function that measures task success.
	We demonstrate our approach on the Barrett WAM robot arm equipped
	with a 6-DOF force/torque sensor on two different manipulation tasks:
	opening a door with a lever door handle, and picking up a pen off
	the table. We show that the learnt force control policies allow successful,
	robust execution of the tasks.},
  doi = {10.1109/IROS.2011.6095096},
  owner = {mihail},
  timestamp = {2012.01.03}
}

@INPROCEEDINGS{Kallmann2008,
  author = {Kallmann, Marcelo},
  title = {Autonomous object manipulation for virtual humans},
  booktitle = {SIGGRAPH '08: ACM SIGGRAPH 2008 classes},
  year = {2008},
  pages = {1--97},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/1401132.1401198},
  location = {Los Angeles, California},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Kalra2007,
  author = {Kalra, N. and Ferguson, D. and Stentz, A. },
  title = {A Generalized Framework for Solving Tightly-coupled Multirobot Planning
	Problems},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {2007},
  pages = {3359--3364},
  month = apr # { 10--14,},
  doi = {10.1109/ROBOT.2007.363991},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Kalra2005,
  author = {Kalra, N. and Ferguson, D. and Stentz, A. },
  title = {Hoplites: A Market-Based Framework for Planned Tight Coordination
	in Multirobot Teams},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2005},
  year = {2005},
  pages = {1170--1177},
  month = apr # { 18--22,},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{kammel_etal_jfr08,
  author = {S\"{o}ren Kammel and Julius Ziegler and Benjamin Pitzer and Moritz
	Werling and Tobias Gindele and Daniel Jagzent and Joachim Schader
	and Michael Thuy and Matthias Goebl and Felix von Hundelshausen and
	Oliver Pink and Christian Frese and Christoph Stiller},
  title = {Team AnnieWAY's Autonomous System for the DARPA Urban Challenge 2007},
  journal = {Journal of Field Robotics},
  year = {2008},
  volume = {25},
  pages = {615 - 639},
  number = {9},
  month = {8},
  abstract = {This paper reports on AnnieWAY, an autonomous vehicle that is capable
	of driving through urban scenarios and that successfully entered
	the finals of the 2007 DARPA Urban Challenge competition. After describing
	the main challenges imposed and the major hardware components, we
	outline the underlying software structure and focus on selected algorithms.
	Environmental perception mainly relies on a recent laser scanner
	that delivers both range and reflectivity measurements. Whereas range
	measurements are used to provide three-dimensional scene geometry,
	measuring reflectivity allows for robust lane marker detection. Mission
	and maneuver planning is conducted using a hierarchical state machine
	that generates behavior in accordance with California traffic laws.
	We conclude with a report of the results achieved during the competition.},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{,
  author = {Kanehiro, F. and Suleiman, W. and Lamiraux, F. and Yoshida, E. and
	Laumond, J.-P. },
  title = {Integrating dynamics into motion planning for humanoid robots},
  booktitle = {Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems IROS 2008},
  year = {2008},
  pages = {660--667},
  abstract = {This paper proposes an whole body motion planning method for humanoid
	robots in which dynamics is integrated. The method consists of two
	stages. A collision-free and statically stable path is planned in
	the first stage and it is transformed into a dynamically stable trajectory
	in the second stage. Contributions of the method is summarized as
	follows. (1) A local method plans a C<sup>1</sup> path while avoiding
	collisions between non-strictly convex objects. (2) The second stage
	gives the minimum time trajectory by time parameterization under
	dynamic balance constraints. (3) Any path reshaping for recovering
	collision-freeness is not required since the second stage doesnpsilat
	change shape of the path. Effectiveness of the method is examined
	by applying it to scenarios of a humanoid robot HRP-2.},
  doi = {10.1109/IROS.2008.4650950},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Kanoun, Oussama and Lamiraux, Florent and Wieber, Pierre-Brice and
	Kanehiro, Fumio and Yoshida, Eiichi and Laumond, Jean-Paul},
  title = {Prioritizing linear equality and inequality systems: Application
	to local motion planning for redundant robots},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA '09},
  year = {2009},
  pages = {2939--2944},
  abstract = {We present a novel method for prioritizing both linear equality and
	inequality systems and provide one algorithm for its resolution.
	This algorithm can be summarized as a sequence of optimal resolutions
	for each linear system following their priority order. We propose
	an optimality criterion that is adapted to linear inequality systems
	and characterize the resulting optimal sets at every priority level.
	We have successfully applied our method to plan local motions for
	the humanoid robot HPR-2. We will demonstrate the validity of the
	method using an original scenario where linear inequality constraints
	are solved at lower priority than equality constraints.},
  doi = {10.1109/ROBOT.2009.5152293},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Kanoun, O. and Yoshida, E. and Laumond, J.-P. },
  title = {An optimization formulation for footsteps planning},
  booktitle = {Proc. 9th IEEE-RAS Int. Conf. Humanoid Robots Humanoids 2009},
  year = {2009},
  pages = {202--207},
  abstract = {We present a novel method to solve the problem of planning footsteps
	for a humanoid robot according to an arbitrary set of tasks. In this
	method, we consider the sequence of footsteps required to solve a
	task as a virtual kinematic chain that augments the state of the
	humanoid robot. We introduce this representation to formulate the
	footsteps planning as an iterative constrainted optimization problem
	where the footsteps are accounted for as additional degrees of freedom
	helping the robot in achieving its tasks. We demonstrate the efficiency
	and the generality of the method through three task scenarios for
	the humanoid robot HRP-2.},
  doi = {10.1109/ICHR.2009.5379527},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INCOLLECTION{Katz,
  author = {Katz, Boris},
  title = {Using {English} for Indexing and Retrieving},
  booktitle = {Artificial Intelligence at {MIT}: Expanding Frontiers},
  publisher = {The {MIT} Press},
  year = {1990},
  volume = {1},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  alteditor = {P. H. Winston and S. A. Shellard},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Katz2008,
  author = {Katz, D. and Brock, O. },
  title = {Manipulating articulated objects with interactive perception},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2008},
  year = {2008},
  pages = {272--277},
  month = may # { 19--23,},
  doi = {10.1109/ROBOT.2008.4543220},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@PHDTHESIS{kavraki,
  author = {Kavraki, L.E.},
  title = {Random networks in configuration space for fast path planning},
  school = {Computer Science Dept., Stanford University},
  year = {1994},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Kavraki1995,
  author = {Kavraki, L. E. },
  title = {Computation of configuration-space obstacles using the fast Fourier
	transform},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {1995},
  volume = {11},
  pages = {408--413},
  number = {3},
  abstract = {This paper presents a new method for computing the configuration-space
	map of obstacles that is used in motion-planning algorithms. The
	method derives from the observation that, when the robot is a rigid
	object that can only translate, the configuration space is a convolution
	of the workspace and the robot. This convolution is computed with
	the use of the fast Fourier transform (FFT) algorithm. The method
	is particularly promising for workspaces with many and/or complicated
	obstacles, or when the shape of the robot is not simple. It is an
	inherently parallel method that can significantly benefit from existing
	experience and hardware on the FFT},
  doi = {10.1109/70.388783},
  issn = {1042-296X},
  keywords = {bit-mapped graphics, convolution, fast Fourier transforms, path planning,
	robots, bitmap representation, configuration-space obstacles, convolution,
	fast Fourier transform, motion-planning, path planning, robots},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@ARTICLE{Kavraki1998,
  author = {Kavraki, L. E. and Kolountzakis, M. N. and Latombe, J.-C. },
  title = {Analysis of probabilistic roadmaps for path planning},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {1998},
  volume = {14},
  pages = {166--171},
  number = {1},
  abstract = {We provide an analysis of a path planning method which uses probabilistic
	roadmaps. This method has proven very successful in practice, but
	the theoretical understanding of its performance is still limited.
	Assuming that a path &gamma; exists between two configurations a
	and b of the robot, we study the dependence of the failure probability
	to connect a and b, on: 1) the length of &gamma;; 2) the distance
	function of &gamma; from the obstacles; 3) the number of nodes N
	of the probabilistic roadmap constructed. Importantly, our results
	do not depend strongly on local irregularities of the configuration
	space, as was the case with previous analysis. These results are
	illustrated with a simple but illuminating example. In this example,
	we provide estimates for N, the principal parameter of the method,
	in order to achieve failure probability within prescribed bounds.
	We also compare, through this example, the different approaches to
	the analysis of the planning method},
  doi = {10.1109/70.660866},
  issn = {1042-296X},
  keywords = {path planning, probability, robots, configuration space, distance
	function, failure probability, local irregularities, path planning,
	probabilistic roadmaps, robot configurations},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@ARTICLE{Kavraki1996,
  author = {Kavraki, L. E. and Svestka, P. and Latombe, J.-C. and Overmars, M.
	H. },
  title = {Probabilistic roadmaps for path planning in high-dimensional configuration
	spaces},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {1996},
  volume = {12},
  pages = {566--580},
  number = {4},
  abstract = {A new motion planning method for robots in static workspaces is presented.
	This method proceeds in two phases: a learning phase and a query
	phase. In the learning phase, a probabilistic roadmap is constructed
	and stored as a graph whose nodes correspond to collision-free configurations
	and whose edges correspond to feasible paths between these configurations.
	These paths are computed using a simple and fast local planner. In
	the query phase, any given start and goal configurations of the robot
	are connected to two nodes of the roadmap; the roadmap is then searched
	for a path joining these two nodes. The method is general and easy
	to implement. It can be applied to virtually any type of holonomic
	robot. It requires selecting certain parameters (e.g., the duration
	of the learning phase) whose values depend on the scene, that is
	the robot and its workspace. But these values turn out to be relatively
	easy to choose, Increased efficiency can also be achieved by tailoring
	some components of the method (e.g., the local planner) to the considered
	robots. In this paper the method is applied to planar articulated
	robots with many degrees of freedom. Experimental results show that
	path planning can be done in a fraction of a second on a contemporary
	workstation (&ap;150 MIPS), after learning for relatively short periods
	of time (a few dozen seconds)},
  doi = {10.1109/70.508439},
  issn = {1042-296X},
  keywords = {graph theory, learning (artificial intelligence), mobile robots, path
	planning, probability, collision-free configurations, goal configurations,
	graph, high-dimensional configuration spaces, holonomic robot, learning
	phase, local planner, motion planning, multi-DOF planar articulated
	robots, path planning, probabilistic roadmaps, query phase, robots,
	start configurations, static workspaces},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@ARTICLE{Kay2003,
  author = {Kay, Jennifer S.},
  title = {Teaching robotics from a computer science perspective},
  journal = {J. Comput. Small Coll.},
  year = {2003},
  volume = {19},
  pages = {329--336},
  number = {2},
  address = {, USA},
  issn = {1937-4771},
  owner = {Mihail},
  publisher = {Consortium for Computing Sciences in Colleges},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{KearnsNIPS99,
  author = {Kearns, Michael and Mansour, Yishay and Ng, Andrew Y.},
  title = {Approximate Planning in Large {POMDP}s via Reusable Trajectories},
  booktitle = nips,
  year = {1999},
  volume = {12},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@TECHREPORT{KearnsTR99,
  author = {Kearns, Michael and Mansour, Yishay and Ng, Andrew Y.},
  title = {Approximate Planning in Large {POMDP}s via Reusable Trajectories},
  institution = {AT\&T},
  year = {1999},
  __markedentry = {[mihail]},
  optkey = {1713},
  optnumber = {1713},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@PHDTHESIS{kelly_thesis,
  author = {Alonzo Kelly},
  title = {An Intelligent Predictive Control Approach to the High-Speed Cross-Country
	Autonomous Navigation Problem},
  school = {Carnegie Mellon University},
  year = {1995},
  month = {September},
  owner = {Mihail},
  timestamp = {2010.04.26}
}

@INPROCEEDINGS{kelly_etal_04,
  author = {Kelly, A. and Amidi, O. and Happold, M. and Herman, H. and Pilarski,
	T. and Rander, P. and Stentz, A. and Vallidis, N. and Warner, R.},
  title = {Toward reliable off-road autonomous vehicle operating in challenging
	environments},
  booktitle = {Proc. of the International Symposium on Experimental Robotics},
  year = {2004},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{kelly_nagy_02,
  author = {Kelly, A. and Nagy, B.},
  title = {Reactive nonholonomic trajectory generation via parametric optimal
	control},
  journal = {International Journal of Robotics Research},
  year = {2002},
  volume = {22},
  pages = {583-601},
  number = {7/8}
}

@ARTICLE{kelly_stentz_ar98b,
  author = {Alonzo Kelly and Anthony Stentz},
  title = {Rough Terrain Autonomous Mobility - Part 2: An Active Vision, Predictive
	Control},
  journal = {Autonomous Robots},
  year = {1998},
  pages = {163 - 198},
  number = {5},
  month = {May},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Kelly1997,
  author = {Kelly, A. and Stentz, A. },
  title = {Analysis of requirements for high speed rough terrain autonomous
	mobility. II. Resolution and accuracy},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1997},
  volume = {4},
  pages = {3326--3333},
  month = apr # { 20--25,},
  doi = {10.1109/ROBOT.1997.606796},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Kelly1997a,
  author = {Kelly, A. and Stentz, A. },
  title = {Analysis of requirements for high speed rough terrain autonomous
	mobility. I. Throughput and response},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1997},
  volume = {4},
  pages = {3318--3325},
  month = apr # { 20--25,},
  doi = {10.1109/ROBOT.1997.606795},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Kelly1997b,
  author = {Kelly, A. and Stentz, A. },
  title = {Computational complexity of terrain mapping perception in autonomous
	mobility},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1997},
  volume = {2},
  pages = {1047--1052},
  month = apr # { 20--25,},
  doi = {10.1109/ROBOT.1997.614273},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Kelly1997c,
  author = {Kelly, A. and Stentz, A. },
  title = {Minimum throughput adaptive perception for high speed mobility},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS '97},
  year = {1997},
  volume = {1},
  pages = {215--223},
  month = sep # { 7--11,},
  doi = {10.1109/IROS.1997.649057},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{kelly_stentz_ar98a,
  author = {Alonzo Kelly and Anthony (Tony) Stentz},
  title = {Rough Terrain Autonomous Mobility - Part 1: A Theoretical Analysis
	of Requirements},
  journal = {Autonomous Robots},
  year = {1998},
  pages = {129 - 161},
  number = {5},
  month = {May},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Kelly2006,
  author = {Kelly, Alonzo and Stentz, Anthony and Amidi, Omead and Bode, Mike
	and Bradley, David and Diaz-Calderon, Antonio and Happold, Mike and
	Herman, Herman and Mandelbaum, Robert and Pilarski, Tom and Rander,
	Pete and Thayer, Scott and Vallidis, Nick and Warner, Randy},
  title = {Toward Reliable Off Road Autonomous Vehicles Operating in Challenging
	Environments},
  journal = {Int. J. Rob. Res.},
  year = {2006},
  volume = {25},
  pages = {449--483},
  number = {5-6},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364906065543},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.01.17}
}

@BOOK{khalil_01,
  title = {Nonlinear Systems},
  publisher = {Prentice Hall},
  year = {2001},
  author = {Khalil, Hassan K.},
  owner = {mihail},
  timestamp = {2012.01.26}
}

@INPROCEEDINGS{,
  author = {Khatib, M. and Bouilly, B. and Simeon, T. and Chatila, R. },
  title = {Indoor navigation with uncertainty using sensor-based motions},
  booktitle = {Proc. Conf. IEEE Int Robotics and Automation},
  year = {1997},
  volume = {4},
  pages = {3379--3384},
  abstract = {This paper presents on operational framework to bridge the gap between
	planning with uncertainty and real-time sensor-based motion control.
	The environment being known, a planner produces a plan composed of
	free space and sensor-based motion commands. The representations
	of uncertainty and its evolution, environment landmarks, and actions
	generated at the planning level are discussed. Sensor-based actions
	and command definitions for a nonholonomic mobile robot based on
	a task-potential field approach are developed. These various elements
	are integrated in a system that actually generates the motions of
	the Hilare2 mobile robot},
  doi = {10.1109/ROBOT.1997.606804},
  owner = {mihail},
  timestamp = {2012.01.18}
}

@INPROCEEDINGS{khatib_etal_icra97,
  author = {Khatib, M. and Jaouni, H. and Chatila, R. and Laumond, J. P.},
  title = {Dynamic path modification for car-like nonholonomic mobile robots},
  booktitle = {Proc. Conf. IEEE Int Robotics and Automation},
  year = {1997},
  volume = {4},
  pages = {2920--2925},
  abstract = {A method combining planning and reactive control for car-like nonholonomic
	mobile robots is discussed. Firstly, a &ldquo;bubble&rdquo; for a
	car-like mobile robot is defined as the locally reachable space from
	a given configuration considering the obstacles and using the appropriate
	metric. Then a flexible feasible trajectory, based on the elastic
	band concepts, is constructed. This trajectory is smoothed using
	Bezier curves satisfying a minimum curvature constraint, and a parameterization
	is proposed which satisfies the robot kinematics constraints},
  doi = {10.1109/ROBOT.1997.606730},
  owner = {mihail},
  timestamp = {2012.01.18}
}

@ARTICLE{khatib_87,
  author = {Khatib, O.},
  title = {A unified approach for motion and force control of robot manipulators:
	The operational space formulation},
  journal = jra,
  year = {1987},
  volume = {3},
  pages = {43--53},
  number = {1},
  abstract = {A framework for the analysis and control of manipulator systems with
	respect to the dynamic behavior of their end-effectors is developed.
	First, issues related to the description of end-effector tasks that
	involve constrained motion and active force control are discussed.
	The fundamentals of the operational space formulation are then presented,
	and the <span class='snippet'>unified</span> <span class='snippet'>approach</span>
	for motion and force control is developed. The extension of this
	formulation to redundant manipulator systems is also presented, constructing
	the end-effector equations of motion and describing their behavior
	with respect to joint forces. These results are used in the development
	of a new and systematic <span class='snippet'>approach</span> for
	dealing with the problems arising at kinematic singularities. At
	a singular configuration, the manipulator is treated as a mechanism
	that is redundant with respect to the motion of the end-effector
	in the subspace of operational space orthogonal to the singular direction.},
  doi = {10.1109/JRA.1987.1087068},
  owner = {mihail},
  timestamp = {2012.02.21}
}

@ARTICLE{khatib.ijrr86,
  author = {O. Khatib},
  title = {Real-time obstacle avoidance for manipulators and mobile robots},
  journal = ijrr,
  year = {1986},
  volume = {5},
  pages = {90-98},
  number = {1},
  owner = {mihail},
  timestamp = {2012.03.12}
}

@INPROCEEDINGS{khatib_burdick.icra86,
  author = {Khatib, O. and Burdick, J.},
  title = {Motion and force control of robot manipulators},
  booktitle = icra,
  year = {1986},
  volume = {3},
  pages = {1381--1386},
  abstract = {In this paper we present a <span class='snippet'>unified</span> <span
	class='snippet'>approach</span> for the control of manipulator motions
	and active forces based on the operational space formulation. The
	end-effector dynamic model is used in the development of a control
	system in which the generalized operational space end-effector forces
	are selected as the command vector. This formulation provides a framework
	for natural and efficient integration of both end-effector force
	and motion control. A "generalized position and force specification
	matrix" is used for the specification of tasks that involve simultaneous
	motion and force operations. Flexibility in the force sensor, end-effector,
	and environment, and problems related to impact are discussed. The
	real-time operational space control system, COSMOS, has been recently
	implemented in the NYMPH multiprocessor system. Results of experiments
	involving contact and force step input response are presented.},
  doi = {10.1109/ROBOT.1986.1087493},
  owner = {mihail},
  timestamp = {2012.02.21}
}

@INPROCEEDINGS{Khatib1996,
  author = {Khatib, O. and Yokoi, K. and Chang, K. and Ruspini, D. and Holmberg,
	R. and Casal, A. },
  title = {Decentralized cooperation between multiple manipulators},
  booktitle = {Proc. th IEEE International Workshop on Robot and Human Communication},
  year = {1996},
  pages = {183--188},
  abstract = {Mobile manipulation capabilities are key to many new applications
	of robotics in space, underwater, construction, and service environments.
	This article discusses the ongoing effort at Stanford University
	for the development of multiple mobile manipulation systems and presents
	the basic models and methodologies for their analysis and control.
	We present the extension of these methodologies to mobile manipulation
	systems and propose a new decentralized control structure for cooperative
	tasks. The article also discusses experimental results obtained with
	two holonomic mobile manipulation platforms we have designed and
	constructed at Stanford University},
  doi = {10.1109/ROMAN.1996.568810},
  keywords = {cooperative systems, decentralised control, manipulator dynamics,
	mobile robots, Stanford University, construction, cooperative tasks,
	decentralized control, decentralized cooperation, holonomic mobile
	manipulation platforms, mobile manipulation, multiple manipulators,
	service environments, space, underwater},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Khatib1996a,
  author = {Khatib, O. and Yokoi, K. and Chang, K. and Ruspini, D. and Holmberg,
	R. and Casal, A. },
  title = {Vehicle/arm coordination and multiple mobile manipulator decentralized
	cooperation},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems '96, IROS 96},
  year = {1996},
  volume = {2},
  pages = {546--553 vol.2},
  abstract = {Mobile manipulation capabilities are key to many new applications
	of robotics in space, underwater construction, and service environments.
	This article discusses the ongoing effort at Stanford University
	for the development of multiple mobile manipulation systems and presents
	the basic models and methodologies for their analysis and control.
	This work builds on four methodologies we have previously developed
	for fixed-base manipulation: the operational space formulation for
	task-oriented robot motion and force control; the dextrous dynamic
	coordination of macro/mini structures for increased mechanical bandwidth
	of robot systems; the augmented object model for the manipulation
	of objects in a robot system with multiple arms; and the virtual
	linkage model for the characterization and control of internal forces
	in a multi-arm system. We present the extension of these methodologies
	to mobile manipulation systems and propose a new decentralized control
	structure for cooperative tasks. The article also discusses experimental
	results obtained with two holonomic mobile manipulation platforms
	we have designed and constructed at Stanford University},
  doi = {10.1109/IROS.1996.570849},
  keywords = {cooperative systems, decentralised control, force control, manipulators,
	mobile robots, Stanford University, augmented object model, decentralized
	control, decentralized cooperation, dextrous dynamic coordination,
	holonomic mobile manipulation platforms, macro/mini structures, multi-arm
	system, multiple mobile manipulator, operational space formulation,
	service environments, space, task-oriented control, underwater construction,
	vehicle/arm coordination, virtual linkage model},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@TECHREPORT{KimuraTR,
  author = {Hajime Kimura and Shigenobu Kobayashi},
  title = {Reinforcement Learning using Stochastic Gradient Algorithm and its
	Application to Robots},
  institution = {The Transaction of the Institute of Electrical Enginners of Japan},
  year = {1999},
  number = {8},
  __markedentry = {[mihail]},
  optnote = {(in Japanese)},
  owner = {mihail},
  timestamp = {2011.03.21},
  volume = {119}
}

@INPROCEEDINGS{Kimura,
  author = {Hajime Kimura and Shigenobu Kobayashi},
  title = {An analysis of actor/critic algorithms using eligibility traces:
	Reinforcement learning with imperfect value functions},
  booktitle = ml98,
  year = {1998},
  pages = {278-286},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@PHDTHESIS{kindel,
  author = {Kindel, R.},
  title = {Motion planning for free-flying robots in dynamic and uncertain environments},
  school = {Aeronaut. \& Astr. Dept., Stanford University},
  year = {2001},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{King2009,
  author = {King, Jennifer and Likhachev, Maxim},
  title = {Efficient cost computation in cost map planning for non-circular
	robots},
  booktitle = {IROS'09: Proceedings of the 2009 IEEE/RSJ international conference
	on Intelligent robots and systems},
  year = {2009},
  pages = {3924--3930},
  address = {Piscataway, NJ, USA},
  publisher = {IEEE Press},
  abstract = {For a robot with a circular footprint, obstacles in a map can be inflated
	by the radius of the footprint, and planning can treat the robot
	as a point robot. Many robotic vehicles however have non-circular
	footprints. When operating in cluttered spaces it therefore becomes
	important to evaluate the footprint of these robots against a cost
	map. This evaluation is one of the major computational burdens in
	planning for robots whose footprints can not be assumed to be circular.
	In this paper, we propose an efficient method for evaluating a footprint
	of the robot against a cost map. Our method involves a transformation
	of the set of points covered by the footprint of the robot into two
	sets of points: points that should be evaluated against the cost
	map with inflated obstacles, and points that should be evaluated
	against the original cost map. The cumulative number of these points
	is much smaller than the number of points in the original footprint
	of the robot. Moreover, the method automatically reduces the robot
	to a single point when its footprint is circular. On the theoretical
	side, the paper proves the correctness of our method. On the experimental
	side, the paper shows that the method results in a significant speedup.},
  isbn = {978-1-4244-3803-7},
  location = {St. Louis, MO, USA},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{RoboCup,
  author = {Hiroaki Kitano and Milind Tambe and Peter Stone and Manuela Veloso
	and Silvia Coradeschi and Eiichi Osawa and Hitoshi Matsubara and
	Itsuki Noda and Minoru Asada},
  title = {The RoboCup Synthetic Agent Challenge 97},
  booktitle = ijcai97,
  year = {1997},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Knepper2006,
  author = {Knepper, R. A. and Kelly, A. },
  title = {High Performance State Lattice Planning Using Heuristic Look-Up Tables},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems},
  year = {2006},
  pages = {3375--3380},
  abstract = {This paper presents a solution to the problem of finding an effective
	yet admissible heuristic function for A* by precomputing a look-up
	table of solutions. This is necessary because traditional heuristic
	functions such as Euclidean distance often produce poor performance
	for certain problems. Here, the technique is applied to the state
	lattice, which is used for full state space motion planning. However,
	the approach is applicable to many applications of heuristic search
	algorithms. The look-up table is demonstrated to be feasible to generate
	and store. A principled technique is presented for selecting which
	queries belong in the table. Finally, the results are validated through
	testing on a variety of path planning problems},
  doi = {10.1109/IROS.2006.282515},
  keywords = {heuristic programming, path planning, search problems, state-space
	methods, A* algorithm, heuristic look-up tables, heuristic search
	algorithm, path planning, state lattice planning, state space motion
	planning, heuristic, mobile robot, motion planning, nonholonomic,
	state lattice},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@INPROCEEDINGS{Knepper2009,
  author = {Knepper, R. A. and Mason, M. T. },
  title = {Path diversity is only part of the problem},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'09},
  year = {2009},
  pages = {3224--3229},
  abstract = {The goal of motion planning is to find a feasible path that connects
	two positions and is free from collision with obstacles. Path sets
	are a robust approach to this problem in the face of real-world complexity
	and uncertainty. A path set is a collection of feasible paths and
	their corresponding control sequences. A path-set-based planner navigates
	by repeatedly testing each of these robot-fixed paths for collision
	with obstacles. A heuristic function selects which of the surviving
	paths to follow next. At each step, the robot follows a small piece
	of each path selected while simultaneously planning the subsequent
	trajectory. A path set possesses high path diversity if it performs
	well at obstacle-avoidance and goal-seeking behaviors. Previous work
	in path diversity has tacitly assumed that a correlation exists between
	this dynamic planning problem and a simpler, static path diversity
	problem: a robot placed randomly into an obstacle field evaluates
	its path set for collision a single time before following the chosen
	path in entirety. Although these problems might intuitively appear
	to be linked, this paper shows that static and dynamic path diversity
	are two distinct properties. After empirically demonstrating this
	fact, we discuss some of the factors that differentiate the two problems.},
  doi = {10.1109/ROBOT.2009.5152696},
  issn = {1050-4729},
  keywords = {collision avoidance, control system synthesis, mobile robots, motion
	control, robot dynamics, robust control, uncertain systems, collision
	avoidance, dynamic path diversity, motion planning, path-set-based
	planner navigation, robot design, robot-fixed path, robust approach,
	trajectory control, uncertain system},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@INPROCEEDINGS{Knepper2009a,
  author = {Knepper, Ross A. and Mason, Matthew T.},
  title = {Path diversity is only of the problem},
  booktitle = {ICRA'09: Proceedings of the 2009 IEEE international conference on
	Robotics and Automation},
  year = {2009},
  pages = {3260--3265},
  address = {Piscataway, NJ, USA},
  publisher = {IEEE Press},
  abstract = {The goal of motion planning is to find a feasible path that connects
	two positions and is free from collision with obstacles. Path sets
	are a robust approach to this problem in the face of real-world complexity
	and uncertainty. A path set is collection of feasible paths and their
	corresponding control sequences. A path-set-based planner navigates
	by repeatedly tessting each of these robot-fixed pathes for collision
	wih obstacles. A heurisic function selects which of the surviving
	paths to follow next. At each step, the robot follows a small piece
	of each path selected while simultaneously planning the subsequent
	trajectory. A path set possesses hih path diversity if it performs
	well at obstacle-avoidance and goal-seeking behaviors. Previous work
	in path diversity has tacitly assumed that a correlation exists between
	this dynamic planning problem and a simpler, static path diversity
	problem: a robot placed randomly into an obstacle field evaluates
	its path set for collision a single time before following the chosen
	path in entirety. Although these problems might intuitively appear
	to be linked, this paper shows that static and dynamic path diversity
	are two distinct properties. After empirically demonsrating this
	fact, we discuss some of the factors that differentiate the two problems.},
  isbn = {978-1-4244-2788-8},
  location = {Kobe, Japan},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{knepper_srinivasa_mason_icra10,
  author = {Ross Alan Knepper and Siddhartha Srinivasa and Matthew T. Mason},
  title = {Hierarchical Planning Architectures for Mobile Manipulation Tasks
	in Indoor Environments},
  booktitle = {ICRA},
  year = {2010},
  owner = {Mihail},
  timestamp = {2010.03.08}
}

@INPROCEEDINGS{knepper_kelly_iros06,
  author = {R. Knepper and A. Kelly},
  title = { High performance state lattice planning using heuristic look-up
	tables},
  booktitle = {Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
  year = {2006},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Koenig2004,
  author = {Koenig, Sven},
  title = {A Comparison of Fast Search Methods for Real-Time Situated Agents},
  booktitle = {AAMAS '04: Proceedings of the Third International Joint Conference
	on Autonomous Agents and Multiagent Systems},
  year = {2004},
  pages = {864--871},
  address = {Washington, DC, USA},
  publisher = {IEEE Computer Society},
  doi = {http://dx.doi.org/10.1109/AAMAS.2004.7},
  isbn = {1-58113-864-4},
  location = {New York, New York},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Koenig2006,
  author = {Koenig, Sven and Likhachev, Maxim},
  title = {Real-time adaptive A*},
  booktitle = {AAMAS '06: Proceedings of the fifth international joint conference
	on Autonomous agents and multiagent systems},
  year = {2006},
  pages = {281--288},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/1160633.1160682},
  isbn = {1-59593-303-4},
  location = {Hakodate, Japan},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{Koenig2005,
  author = {Koenig, S. and Likhachev, M. },
  title = {Fast replanning for navigation in unknown terrain},
  journal = {IEEE Transactions on Robotics},
  year = {2005},
  volume = {21},
  pages = {354--363},
  number = {3},
  month = jun,
  doi = {10.1109/TRO.2004.838026},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Koenig2005a,
  author = {Koenig, Sven and Likhachev, Maxim},
  title = {Adaptive A},
  booktitle = {AAMAS '05: Proceedings of the fourth international joint conference
	on Autonomous agents and multiagent systems},
  year = {2005},
  pages = {1311--1312},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/1082473.1082748},
  isbn = {1-59593-093-0},
  location = {The Netherlands},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Koenig2002,
  author = {Koenig, S. and Likhachev, M. },
  title = {Improved fast replanning for robot navigation in unknown terrain},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'02},
  year = {2002},
  volume = {1},
  pages = {968--975},
  month = may # { 11--15,},
  doi = {10.1109/ROBOT.2002.1013481},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Koenig2002a,
  author = {Koenig, Sven and Likhachev, Maxim},
  title = {D*-{L}ite},
  booktitle = {Eighteenth national conference on Artificial intelligence},
  year = {2002},
  pages = {476--483},
  address = {Menlo Park, CA, USA},
  publisher = {American Association for Artificial Intelligence},
  isbn = {0-262-51129-0},
  location = {Edmonton, Alberta, Canada},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{koenig_likhachev_02,
  author = {S. Koenig and M. Likhachev},
  title = {D* {L}ite},
  booktitle = {Proceedings of the AAAI Conference of Artificial Intelligence (AAAI)},
  year = {2002},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Koenig2007,
  author = {Koenig, Sven and Likhachev, Maxim and Sun, Xiaoxun},
  title = {Speeding up moving-target search},
  booktitle = {AAMAS '07: Proceedings of the 6th international joint conference
	on Autonomous agents and multiagent systems},
  year = {2007},
  pages = {1--8},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/1329125.1329353},
  isbn = {978-81-904262-7-5},
  location = {Honolulu, Hawaii},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{KoeSim96,
  author = {S. Koenig and R.G. Simmons},
  title = {The effect of representation and knowledge on goal-directed exploration
	with reinforcement learning alogrithms},
  journal = mlj,
  year = {1996},
  volume = {22},
  pages = {237-285},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Kolmogorov55,
  author = {Kolmogorov, Andrey N.},
  title = {Bounds for the minimal number of elements of an {$\epsilon$-net}
	in various classes of functions and their applications to the questions
	of representability of functions of several variables by superposition
	of functions of fewer variables},
  journal = {Uspekhi Mat. Nauk},
  year = {1955},
  volume = {10},
  pages = {192-194},
  number = {1},
  note = {(in Russian)},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Kolmogorov59,
  author = {Kolmogorov, Andrey N. and Tikhomirov, V. M.},
  title = {{$\epsilon$-entropy and $\epsilon$-capacity of sets in function spaces}},
  journal = {Amer. Math. Soc. Transls.},
  year = {1961},
  volume = {17},
  pages = {277-364},
  note = {(Uspekhi Mat. Nauk, v.14, vyp. 2, 3-86)},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Kolter2008,
  author = {Kolter, J. Zico and Coates, Adam and Ng, Andrew Y. and Gu, Yi and
	DuHadway, Charles},
  title = {Space-indexed dynamic programming: learning to follow trajectories},
  booktitle = {ICML '08: Proceedings of the 25th international conference on Machine
	learning},
  year = {2008},
  pages = {488--495},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {We consider the task of learning to accurately follow a trajectory
	in a vehicle such as a car or helicopter. A number of dynamic programming
	algorithms such as Differential Dynamic Programming (DDP) and Policy
	Search by Dynamic Programming (PSDP), can efficiently compute non-stationary
	policies for these tasks --- such policies in general are well-suited
	to trajectory following since they can easily generate different
	control actions at different times in order to follow the trajectory.
	However, a weakness of these algorithms is that their policies are
	time-indexed, in that they apply different policies depending on
	the current time. This is problematic since 1) the current time may
	not correspond well to where we are along the trajectory and 2) the
	uncertainty over states can prevent these algorithms from finding
	any good policies at all. In this paper we propose a method for space-indexed
	dynamic programming that overcomes both these difficulties. We begin
	by showing how a dynamical system can be rewritten in terms of a
	spatial index variable (i.e., how far along the trajectory we are)
	rather than as a function of time. We then use these space-indexed
	dynamical systems to derive space-indexed version of the DDP and
	PSDP algorithms. Finally, we show that these algorithms perform well
	on a variety of control tasks, both in simulation and on real systems.},
  doi = {http://doi.acm.org/10.1145/1390156.1390218},
  isbn = {978-1-60558-205-4},
  location = {Helsinki, Finland},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Kolter2009a,
  author = {Kolter, J. Z. and Ng, A. Y. },
  title = {Task-space trajectories via cubic spline optimization},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA '09},
  year = {2009},
  pages = {1675--1682},
  abstract = {We consider the task of planning smooth trajectories for robot motion.
	In this paper we make two contributions. First we present a method
	for cubic spline optimization; this technique lets us simultaneously
	plan optimal task-space trajectories and fit cubic splines to the
	trajectories, while obeying many of the same constraints imposed
	by a typical motion planning algorithm. The method uses convex optimization
	techniques, and is therefore very fast and suitable for real-time
	re-planning and control. Second, we apply this approach to the tasks
	of planning foot and body trajectory for a quadruped robot, the ldquoLittleDog,rdquo
	and show that the proposed approach improves over previous work on
	this robot.},
  doi = {10.1109/ROBOT.2009.5152554},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{kolter_etal_icra10,
  author = {J. Zico Kolter and Christian Plagemann and David T. Jackson and Andrew
	Y. Ng and Sebastian Thrun},
  title = {A Probabilistic Approach to Mixed Open-loop and Closed-loop Control,
	with Application to Extreme Autonomous Driving},
  booktitle = {Proceedings of the International Conference on Robotics and Automation},
  year = {2010},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Kolter2008a,
  author = {Kolter, J. Z. and Rodgers, M. P. and Ng, A. Y. },
  title = {A control architecture for quadruped locomotion over rough terrain},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA 2008},
  year = {2008},
  pages = {811--818},
  abstract = {Legged robots have the potential to navigate a much larger variety
	of terrain than their wheeled counterparts. In this paper we present
	a hierarchical control architecture that enables a quadruped, the
	"LittleDog" robot, to walk over rough terrain. The controller consists
	of a high-level planner that plans a set of footsteps across the
	terrain, a low-level planner that plans trajectories for the robot's
	feet and center of gravity (COG), and a low-level controller that
	tracks these desired trajectories using a set of closed-loop mechanisms.
	We conduct extensive experiments to verify that the controller is
	able to robustly cross a wide variety of challenging terrains, climbing
	over obstacles nearly as tall as the robot's legs. In addition, we
	highlight several elements of the controller that we found to be
	particularly crucial for robust locomotion, and which are applicable
	to quadruped robots in general. In such cases we conduct empirical
	evaluations to test the usefulness of these elements.},
  doi = {10.1109/ROBOT.2008.4543305},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Kolter2009,
  author = {Kolter, J. Zico and Youngjun Kim, and Ng, Andrew Y. },
  title = {Stereo vision and terrain modeling for quadruped robots},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA '09},
  year = {2009},
  pages = {1557--1564},
  abstract = {Legged robots offer the potential to navigate highly challenging terrain,
	and there has recently been much progress in this area. However,
	a great deal of this recent work has operated under the assumption
	that either the robot has complete knowledge of its environment or
	that its environment is suitably regular so as to be navigated with
	only minimal perception, an unrealistic assumption in many real-world
	domains. In this paper we present an integrated perception and control
	system for a quadruped robot that allows it to perceive and traverse
	previously unseen, rugged terrain that includes large, irregular
	obstacles. A key element of the system is a novel terrain modeling
	algorithm, used for filling in the occluded models resulting from
	on-board vision systems. We apply our approach to the LittleDog robot,
	and show that it allows the robot to walk over challenging terrain
	using only on-board perception.},
  doi = {10.1109/ROBOT.2009.5152795},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@ARTICLE{Konda01,
  author = {Vijay R. Konda and Tsitsiklis, John N.},
  title = {Actor-Critic Algorithms},
  journal = {SIAM Journal on Control and Optimization},
  year = {2001},
  pages = {1008-14},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{KondaNIPS99,
  author = {Vijay R. Konda and Tsitsiklis, John N.},
  title = {Actor-Critic Algorithms},
  booktitle = nips,
  year = {1999},
  volume = {12},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Koyuncu2010,
  author = {Koyuncu, Emre and Ure, N. Kemal and Inalhan, Gokhan},
  title = {Integration of Path/Maneuver Planning in Complex Environments for
	Agile Maneuvering UCAVs},
  journal = {J. Intell. Robotics Syst.},
  year = {2010},
  volume = {57},
  pages = {143--170},
  number = {1-4},
  abstract = {In this work, we consider the problem of generating agile maneuver
	profiles for Unmanned Combat Aerial Vehicles in 3D Complex environments.
	This problem is complicated by the fact that, generation of the dynamically
	and geometrically feasible flight trajectories for agile maneuver
	profiles requires search of nonlinear state space of the aircraft
	dynamics. This work suggests a two layer feasible trajectory/maneuver
	generation system. Integrated Path planning (considers geometrical,
	velocity and acceleration constraints) and maneuver generation (considers
	saturation envelope and attitude continuity constraints) system enables
	each layer to solve its own reduced order dimensional feasibility
	problem, thus simplifies the problem and improves the real time implement
	ability. In Trajectory Planning layer, to solve the time depended
	path planning problem of an unmanned combat aerial vehicles, we suggest
	a two step planner. In the first step, the planner explores the environment
	through a randomized reachability tree search using an approximate
	line segment model. The resulting connecting path is converted into
	flight way points through a line-of-sight segmentation. In the second
	step, every consecutive way points are connected with B-Spline curves
	and these curves are repaired probabilistically to obtain a geometrically
	and dynamically feasible path. This generated feasible path is turned
	in to time depended trajectory with using time scale factor considering
	the velocity and acceleration limits of the aircraft. Maneuver planning
	layer is constructed upon multi modal control framework, where the
	flight trajectories are decomposed to sequences of maneuver modes
	and associated parameters. Maneuver generation algorithm, makes use
	of mode transition rules and agility metric graphs to derive feasible
	maneuver parameters for each mode and overall sequence. Resulting
	integrated system; tested on simulations for 3D complex environments,
	gives satisfactory results and promises successful real time implementation.},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1007/s10846-009-9367-1},
  issn = {0921-0296},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{kruesi_etal_isairas10,
  author = {Philipp Kr\"{u}si and Mihail Pivtoraiko and Alonzo Kelly and Thomas
	M. Howard and Roland Siegwart},
  title = {Path Set Relaxation for Mobile Robot Navigation},
  booktitle = {Proceedings of the International Symposium on Artificial Intelligence,
	Robotics and Automation in Space},
  year = {2010},
  abstract = {This paper addresses autonomous navigation and goal acquisition for
	mobile robots operating in difficult, cluttered environments. In
	particular a hierarchical approach to navigation is of interest,
	which subdivides the problem into global and local components. Local
	planners attempt to search the continuum of actions for a best (safest,
	efficient) route towards a goal. To achieve real-time performance,
	the search space is often sampled in lowdimensional action or state
	space. This paper explores a relaxation-based approach that optimizes
	the sampled action space for the perceived environment. The gradient
	based approach minimizes the cost of each motion in the path set
	until convergence into a local optimum is reached. Simulation experiments
	show that relaxed arc sets offer better approximations of the acceptable
	path continuum and lead to safer navigation in rough terrain and
	dense obstacle fields. Additional experiments explore the benefits
	of sampled action spaces composed of higher-order action primitives
	(clothoids) and a graduated fidelity inspired lookahead technique.},
  bib2html_pubtype = {Refereed Conferences},
  bib2html_rescat = {Robot Navigation}
}

@ARTICLE{Kress-Gazit2008,
  author = {Kress-Gazit, H. and Conner, D. C. and Choset, H. and Rizzi, A. A.
	and Pappas, G. J. },
  title = {Courteous Cars},
  journal = {IEEE Robotics Automation Magazine},
  year = {2008},
  volume = {15},
  pages = {30--38},
  number = {1},
  month = mar,
  doi = {10.1109/M-RA.2007.914921},
  owner = {Mihail},
  timestamp = {2010.02.05}
}

@ARTICLE{Krotkov2007,
  author = {Krotkov, Eric and Fish, Scott and Jackel, Larry and Mcbride, Bill
	and Perschbacher, Mike and Pippine, Jim},
  title = {The DARPA PerceptOR evaluation experiments},
  journal = {Auton. Robots},
  year = {2007},
  volume = {22},
  pages = {19--35},
  number = {1},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1007/s10514-006-9000-0},
  issn = {0929-5593},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.01.17}
}

@PHDTHESIS{kuffner,
  author = {Kuffner, J.J.},
  title = {Autonomous agents for real-time animation},
  school = {Computer Science Dept., Stanford University},
  year = {1999},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{kuffner_lavalle_iros11,
  author = {Kuffner, James J. and LaValle, Steven M. },
  title = {Space-filling trees: A new perspective on incremental search for
	motion planning},
  booktitle = {Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf},
  year = {2011},
  pages = {2199--2206},
  abstract = {This paper introduces space-filling trees and analyzes them in the
	context of sampling-based motion planning. Space-filling trees are
	analogous to space-filling curves, but have a branching, tree-like
	structure, and are defined by an incremental process that results
	in a tree for which every point in the space has a finite-length
	path that converges to it. In contrast to space-filling curves, individual
	paths in the tree are short, allowing any part of the space to be
	quickly reached from the root. We compare some basic constructions
	of space-filling trees to Rapidly-exploring Random Trees (RRTs),
	which underlie a number of popular algorithms used for sampling-based
	motion planning. We characterize several key tree properties related
	to path quality and the overall efficiency of exploration and conclude
	with a number of open mathematical questions.},
  doi = {10.1109/IROS.2011.6094740},
  owner = {mihail},
  timestamp = {2012.01.21}
}

@INPROCEEDINGS{Kuffner2000,
  author = {Kuffner, J. J. , Jr. and LaValle, S. M. },
  title = {RRT-connect: An efficient approach to single-query path planning},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA '00},
  year = {2000},
  volume = {2},
  pages = {995--1001},
  abstract = {A simple and efficient randomized algorithm is presented for solving
	single-query path planning problems in high-dimensional configuration
	spaces. The method works by incrementally building two rapidly-exploring
	random trees (RRTs) rooted at the start and the goal configurations.
	The trees each explore space around them and also advance towards
	each other through, the use of a simple greedy heuristic. Although
	originally designed to plan motions for a human arm (modeled as a
	7-DOF kinematic chain) for the automatic graphic animation of collision-free
	grasping and manipulation tasks, the algorithm has been successfully
	applied to a variety of path planning problems. Computed examples
	include generating collision-free motions for rigid objects in 2D
	and 3D, and collision-free manipulation motions for a 6-DOF PUMA
	arm in a 3D workspace. Some basic theoretical analysis is also presented},
  doi = {10.1109/ROBOT.2000.844730},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{KumarIJCAI99,
  author = {Shailesh Kumar and Risto Miikkulainen},
  title = {Confidence Based Dual Reinforcement {Q-Routing}: An adaptive online
	network routing algorithm},
  booktitle = ijcai99,
  year = {1999},
  pages = {758-763},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  optaddress = {San Francisco, CA},
  optlocation = {Sweden, Stockholm},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Kumar98,
  author = {Shailesh Kumar and Risto Miikkulainen},
  title = {Confidence-Based {Q}-Routing: An On-Line Adaptive Network Routing
	Algorithm},
  booktitle = {Proceedings of Artificial Neural Networks in Engineering},
  year = {1998},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/28553.html}
}

@ARTICLE{kuwata_etal_cst09,
  author = {Kuwata, Y. and Karaman, S. and Teo, J. and Frazzoli, E. and How,
	J. P. and Fiore, G.},
  title = {Real-Time Motion Planning With Applications to Autonomous Urban Driving},
  journal = IEEE_J_CST,
  year = {2009},
  volume = {17},
  pages = {1105--1118},
  number = {5},
  abstract = {This paper describes a real-time motion planning algorithm, based
	on the rapidly-exploring random tree (RRT) approach, applicable to
	autonomous vehicles operating in an urban environment. Extensions
	to the standard RRT are predominantly motivated by: 1) the need to
	generate dynamically feasible plans in real-time; 2) safety requirements;
	3) the constraints dictated by the uncertain operating (urban) environment.
	The primary novelty is in the use of closed-loop prediction in the
	framework of RRT. The proposed algorithm was at the core of the planning
	and control software for Team MIT's entry for the 2007 DARPA Urban
	Challenge, where the vehicle demonstrated the ability to complete
	a 60 mile simulated military supply mission, while safely interacting
	with other autonomous and human driven vehicles.},
  doi = {10.1109/TCST.2008.2012116},
  owner = {mihail},
  timestamp = {2012.02.01}
}

@INPROCEEDINGS{,
  author = {Kuwata, Yoshiaki and Wolf, Michael T. and Zarzhitsky, Dimitri and
	Huntsberger, Terrance L. },
  title = {Safe maritime navigation with COLREGS using velocity obstacles},
  booktitle = {Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf},
  year = {2011},
  pages = {4728--4734},
  abstract = {This paper presents a motion planning algorithm for Unmanned Surface
	Vehicles (USVs) to navigate safely in dynamic, cluttered environments.
	The proposed algorithm not only addresses Hazard Avoidance (HA) for
	stationary and moving hazards but also applies the International
	Regulations for Preventing Collisions at Sea (known as COLREGS).
	The COLREGS rules specify, for example, which vessel is responsible
	for giving way to the other and to which side of the &#x201C;stand-on&#x201D;
	vessel to maneuver. The three primary COLREGS rules were considered
	in this paper: crossing, overtaking, and head-on situations. For
	USVs to be safely deployed in environments with other traffic boats,
	it is imperative that the USV's navigation algorithm obey COLREGS.
	Note also that if other boats disregard their responsibility under
	COLREGS, the USV will still apply its HA algorithms to avoid a collision.
	The proposed approach is based on Velocity Obstacles, which generates
	a cone-shaped obstacle in the velocity space. Because Velocity Obstacles
	also specify which side of the obstacle the vehicle will pass during
	the avoidance maneuver, COLREGS are encoded in the velocity space
	very naturally. The algorithm is demonstrated via both simulation
	and on-water tests.},
  doi = {10.1109/IROS.2011.6094677},
  owner = {mihail},
  timestamp = {2012.01.13}
}

@INPROCEEDINGS{kwak_pivtoraiko_simmons_isairas08,
  author = {Jun-young Kwak and Mihail Pivtoraiko and Reid Simmons},
  title = {Combining Cost and Reliability for Rough Terrain Navigation},
  booktitle = {9th International Symposium on Artificial Intelligence, Robotics
	and Automation in Space},
  year = {2008},
  abstract = {This paper presents an improved method for planetary rover path planning
	in very rough terrain, based on the particle-based Rapidly-exploring
	Random Tree (pRRT) algorithm. It inherits the benefits of pRRT, an
	improvement over the conventional RRT algorithm that explicitly considers
	uncertainty in sensing, modeling, and actuation by treating each
	addition to the tree as a stochastic process. Although pRRT is well-suited
	to planning under uncertainty, it has limitations in minimizing the
	cost of path plans. Our approach addresses these limitations by considering
	the relevant cost functions explicitly. Such cost functions depend
	on the application and can include time or distance of traversal,
	and energy consumption of the rover. The paper demonstrates the planner
	performance using a specific cost function defined in terms of the
	energy expenditure. The improved pRRT algorithm has been experimentally
	validated in simulation, and it has been shown to produce lower-cost
	plans than the standard pRRT algorithm. The proposed approach is
	likely to benefit the present and future space missions as an onboard
	motion planner and as a ground-based tool for plan validation.},
  bib2html_pubtype = {Refereed Conferences},
  bib2html_rescat = {Robot Navigation},
  owner = {mihail},
  timestamp = {2010.08.07}
}

@INPROCEEDINGS{Lacaze1998,
  author = {Lacaze, A. and Moscovitz, Y. and DeClaris, N. and Murphy, K. },
  title = {Path planning for autonomous vehicles driving over rough terrain},
  booktitle = {Proc. Intelligent Control (ISIC) Held jointly with IEEE International
	Symposium on Computational Intelligence in Robotics and Automation
	(CIRA), Intelligent Systems and Semiotics (ISAS)},
  year = {1998},
  pages = {50--55},
  abstract = {This paper presents a multiresolutional architecture of planners for
	obstacle avoidance in outdoor mobility. The planner makes use of
	off-line dynamical simulations results to efficiently find paths
	that avoid obstacles. The trajectories are generated by sets of steering
	velocity commands. This approach of building the search space for
	the planner results in realistic cost and trajectories for the vehicle.
	An implementation of the planner was developed and tested in a vehicle
	at the National Institute of Standards and Technology (NIST) with
	promising results},
  doi = {10.1109/ISIC.1998.713634},
  keywords = {collision avoidance, mobile robots, robot dynamics, vehicles, NIST,
	National Institute of Standards and Technology, autonomous vehicles,
	multiresolutional architecture, obstacle avoidance, off-line dynamical
	simulations, outdoor mobility, path planning, rough terrain, search
	space building, steering velocity commands, trajectory generation},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{lacaze_etal_98,
  author = {Lacaze, A. and Moscovitz, Y. and DeClaris, N. and Murphy, K.},
  title = {Path planning for autonomous vehicles driving over rough terrain},
  booktitle = {Proceedings of the IEEE International Symposium on Intelligent Control},
  year = {1998},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Ladd2004,
  author = {Ladd, A. M. and Bekris, K. E. and Rudys, A. P. and Wallach, D. S.
	and Kavraki, L. E. },
  title = {On the feasibility of using wireless ethernet for indoor localization},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {2004},
  volume = {20},
  pages = {555--559},
  number = {3},
  abstract = {IEEE 802.11b wireless Ethernet is becoming the standard for indoor
	wireless communication. This paper proposes the use of measured signal
	strength of Ethernet packets as a sensor for a localization system.
	We demonstrate that off-the-shelf hardware can accurately be used
	for location sensing and real-time tracking by applying a Bayesian
	localization framework.},
  doi = {10.1109/TRA.2004.824948},
  issn = {1042-296X},
  keywords = {Bayes methods, control engineering computing, indoor radio, mobile
	computing, mobile robots, wireless LAN, Bayesian localization, IEEE
	802.11b, indoor localization system, indoor wireless communication,
	location sensing, mobile robot, robot localization, wireless Ethernet,
	Bayesian inference, robot localization, sensor fusion, wireless Ethernet},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@ARTICLE{Ladd2004a,
  author = {Ladd, A. M. and Kavraki, L. E. },
  title = {Measure theoretic analysis of probabilistic path planning},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {2004},
  volume = {20},
  pages = {229--242},
  number = {2},
  abstract = {This paper presents a novel analysis of the probabilistic roadmap
	method (PRM) for path planning. We formulate the problem in terms
	of computing the transitive closure of a relation over a probability
	space, and give a bound on the expected number iterations of PRM
	required to find a path, in terms of the number of intermediate points
	and the probability of choosing a point from a certain set. Explicit
	geometric assumptions are not necessary to complete this analysis.
	As a result, the analysis provides some unification of previous work.
	We provide an upper bound which could be refined using details specific
	to a given problem. This bound is of the same form as that proved
	in previous analyses, but has simpler prerequisites and is proved
	on a more general class of problems. Using our framework, we analyze
	some new path-planning problems, 2k-degree-of-freedom kinodynamic
	point robots, polygonal robots with contact, and deformable robots
	with force field control. These examples make explicit use of generality
	in our approach that did not exist in previous frameworks.},
  doi = {10.1109/TRA.2004.824649},
  issn = {1042-296X},
  keywords = {computational geometry, force control, measurement theory, path planning,
	probabilistic automata, robots, deformable robots, force field control,
	geometric assumptions, kinodynamic point robots, measure theory,
	path planning, polygonal robots, probabilistic computation, probabilistic
	roadmap method},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Lai2011a,
  author = {Lai, K.  and Liefeng Bo and Xiaofeng Ren and Fox, D. },
  title = {A large-scale hierarchical multi-view {RGB-D} object dataset},
  booktitle = icra,
  year = {2011},
  pages = {1817--1824},
  __markedentry = {[mihail:6]},
  abstract = {Over the last decade, the availability of public image repositories
	and recognition benchmarks has enabled rapid progress in visual object
	category and instance detection. Today we are witnessing the birth
	of a new generation of sensing technologies capable of providing
	high quality synchronized videos of both color and depth, the RGB-D
	(Kinect-style) camera. With its advanced sensing capabilities and
	the potential for mass adoption, this technology represents an opportunity
	to dramatically increase robotic object recognition, manipulation,
	navigation, and interaction capabilities. In this paper, we introduce
	a large-scale, hierarchical multi-view object dataset collected using
	an RGB-D camera. The dataset contains 300 objects organized into
	51 categories and has been made publicly available to the research
	community so as to enable rapid progress based on this promising
	technology. This paper describes the dataset collection procedure
	and introduces techniques for RGB-D based object recognition and
	detection, demonstrating that combining color and depth information
	substantially improves quality of results.},
  doi = {10.1109/ICRA.2011.5980382},
  owner = {mihail},
  timestamp = {2012.03.12}
}

@INPROCEEDINGS{Lai2005,
  author = {Lai, Yu-Chi and Chenney, Stephen and Fan, ShaoHua},
  title = {Group motion graphs},
  booktitle = {SCA '05: Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium
	on Computer animation},
  year = {2005},
  pages = {281--290},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {We introduce Group Motion Graphs, a data-driven animation technique
	for groups of discrete agents, such as flocks, herds, or small crowds.
	Group Motion Graphs are conceptually similar to motion graphs constructed
	from motion-capture data, but have some important differences: we
	assume simulated motion; transition nodes are found by clustering
	group configurations from the input simulations: and clips to join
	transitions are explicitly constructed via constrained simulation.
	Graphs built this way offer known bounds on the trajectories that
	they generate, making it easier to search for particular output motions.
	The resulting animations show realistic motion at significantly reduced
	computational cost compared to simulation, and improved control.},
  doi = {http://doi.acm.org/10.1145/1073368.1073409},
  isbn = {1-7695-2270-X},
  location = {Los Angeles, California},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@ARTICLE{Lalonde2007,
  author = {Lalonde, Jean-Fran\c{c}ois and Vandapel, Nicolas and Hebert, Martial},
  title = {Data Structures for Efficient Dynamic Processing in 3-D},
  journal = {Int. J. Rob. Res.},
  year = {2007},
  volume = {26},
  pages = {777--796},
  number = {8},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364907079265},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.01.17}
}

@ARTICLE{lamiraux_laumond_01,
  author = {F. Lamiraux and J.-P. Laumond},
  title = {Smooth Motion Planning for Car-Like Vehicles},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {2001},
  volume = {17},
  number = {4},
  owner = {Mihail},
  timestamp = {2010.04.26}
}

@ARTICLE{Lang2000,
  author = {Lang, J. and Jenkin, M. R. M.},
  title = {Active Object Modeling with VIRTUE},
  journal = {Auton. Robots},
  year = {2000},
  volume = {8},
  pages = {141--159},
  number = {2},
  abstract = {This paper presents a vision system for the task of},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1023/A:1008935628281},
  issn = {0929-5593},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.03.03}
}

@BOOK{latombe_91,
  title = {Robot Motion Planning},
  publisher = {Kluwer, Boston},
  year = {1991},
  author = {Latombe, J.-C.},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Lau2005,
  author = {Lau, Manfred and Kuffner, James J.},
  title = {Behavior planning for character animation},
  booktitle = {SCA '05: Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium
	on Computer animation},
  year = {2005},
  pages = {271--280},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {This paper explores a behavior planning approach to automatically
	generate realistic motions for animated characters. Motion clips
	are abstracted as high-level behaviors and associated with a behavior
	finite-state machine (FSM) that defines the movement capabilities
	of a virtual character. During runtime, motion is generated automatically
	by a planning algorithm that performs a global search of the FSM
	and computes a sequence of behaviors for the character to reach a
	user-designated goal position. Our technique can generate interesting
	animations using a relatively small amount of data, making it attractive
	for resource-limited game platforms. It also scales efficiently to
	large motion databases, because the search performance is primarily
	dependent on the complexity of the behavior FSM rather than on the
	amount of data. Heuristic cost functions that the planner uses to
	evaluate candidate motions provide a flexible framework from which
	an animator can control character preferences for certain types of
	behavior. We show results of synthesized animations involving up
	to one hundred human and animal characters planning simultaneously
	in both static and dynamic environments.},
  doi = {http://doi.acm.org/10.1145/1073368.1073408},
  isbn = {1-7695-2270-X},
  location = {Los Angeles, California},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@ARTICLE{Laugier1999,
  author = {Laugier, C. and Fraichard, Th. and Garnier, Ph. and Paromtchik, I.
	E. and Scheuer, A.},
  title = {Sensor-Based Control Architecture for a Car-Like Vehicle},
  journal = {Auton. Robots},
  year = {1999},
  volume = {6},
  pages = {165--185},
  number = {2},
  abstract = {This paper presents a control architecture endowing a car-like},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1023/A:1008835527875},
  issn = {0929-5593},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.01.20}
}

@INPROCEEDINGS{Laumond1987,
  author = {Laumond, Jean-Paul},
  title = {Feasible Trajectories for Mobile Robots with Kinematic and Environment
	Constraints},
  booktitle = {Intelligent Autonomous Systems, An International Conference},
  year = {1987},
  pages = {346--354},
  address = {Amsterdam, The Netherlands, The Netherlands},
  publisher = {North-Holland Publishing Co.},
  isbn = {0-444-70168-0},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{laumond_86,
  author = {J.-P. Laumond},
  title = {Trajectories for mobile robots with kinematic and environment constraints},
  booktitle = {Proc. of International Conference on Intelligent Autonomous Systems},
  year = {1986},
  pages = {346Â–354},
  owner = {Mihail},
  timestamp = {2010.04.26}
}

@ARTICLE{laumond_sekhavat_lamiraux_98,
  author = {J.-P. Laumond and S. Sekhavat and F. Lamiraux},
  title = {Guidelines in nonholonomic motion planning},
  journal = {Robot motion planning and control},
  year = {1998},
  __markedentry = {[mihail]},
  address = {New York},
  editor = {J.-P. Laumond},
  owner = {mihail},
  publisher = {Springer},
  timestamp = {2011.03.21}
}

@BOOK{lavalle_06,
  title = {Planning Algorithms},
  publisher = {Cambridge University Press},
  year = {2006},
  author = {S.M. LaValle},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{lavalle_branicky_lindemann_04,
  author = {LaValle, S.M. and Branicky, M. and Lindemann, S.},
  title = {On the relationship between classical grid search and probabilistic
	roadmaps},
  journal = {International Journal of Robotics Research},
  year = {2004},
  volume = {23},
  pages = {673-692},
  number = {7/8},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{lavalle_book,
  title = {Planning Algorithms},
  publisher = {Cambridge University Press},
  year = {2006},
  author = {Steven M. LaValle},
  owner = {Mihail},
  timestamp = {2010.06.28}
}

@ARTICLE{lavalle_branicky_lindemann_ijrr04,
  author = {Steven M. LaValle and Michael S. Branicky and Stephen R. Lindemann},
  title = {On the Relationship between Classical Grid Search and Probabilistic
	Roadmaps},
  journal = {International Journal of Robotics Research},
  year = {2004},
  volume = {23},
  pages = {673-692},
  number = {7-8},
  owner = {Mihail},
  timestamp = {2010.03.08}
}

@INPROCEEDINGS{LaValle1999a,
  author = {LaValle, Steven M. and Finn, Paul W. and Kavraki, Lydia E. and Latombe,
	Jeal-Claude},
  title = {Efficient database screening for rational drug design using pharmacophore-constrained
	conformational search},
  booktitle = {RECOMB '99: Proceedings of the third annual international conference
	on Computational molecular biology},
  year = {1999},
  pages = {250--260},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/299432.299489},
  isbn = {1-58113-069-4},
  location = {Lyon, France},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@ARTICLE{lavalle_kuffner_ijrr01,
  author = {Steven M. LaValle and James J. Kuffner, Jr.},
  title = {Randomized Kinodynamic Planning},
  journal = {International Journal of Robotics Research},
  year = {2001},
  volume = {20},
  pages = {378-400},
  number = {5},
  abstract = {This paper presents the first randomized approach to kinodynamic planning
	(also known as trajectory planning or trajectory design). The task
	is to determine control inputs to drive a robot from an ini ial configuration
	and velocity to a goal configuration and velocity while obeying physically
	based dynamical models and avoiding obstacles in the robotÂ’s environment.
	The authors consider generic systems that express the nonlinear dynamics
	of a robot in terms of the robotÂ’s high-dimensional configuration
	space. Kinodynamic planning is treated as a motion-planning problem
	in a higher dimensional state space that has both first-order differential
	constraints and obstacle-based global constraints. The state space
	serves the same role as the configuration space for basic path planning;
	however, standard randomized path-planning techniques do not directly
	apply to planning trajectories in the state space. The authors have
	developed a randomized planning approach that is particularly tailored
	to trajectory planning problems in high-dimensional state spaces.
	The basis for this approach is the construction of rapidly exploring
	random trees, which offer benefits that are similar to those obtained
	by successful randomized holonomic planning methods but apply to
	a much broader class of problems. Theoretical analysis of the algorithm
	is given. Experimental results are presented for an implementation
	that computes trajectories for hovercrafts and satellites in cluttered
	environments, resulting in state spaces of up to 12 dimensions.},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@ARTICLE{lavalle_kuffner_01,
  author = {LaValle, S. M. and Kuffner, J. J.},
  title = {Rapidly-exploring random trees: Progress and prospects},
  journal = {Algorithmic and Computational Robotics: New Directions},
  year = {2001},
  pages = {293-308},
  __markedentry = {[mihail]},
  editor = {B. R. Donald and K. M. Lynch and D. Rus},
  owner = {mihail},
  publisher = {A K Peters, Wellesley, MA},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{lavalle_kuffner_99,
  author = {LaValle, S. M. and Kuffner, J. J.},
  title = {Randomized kinodynamic planning},
  booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
  year = {1999},
  pages = {473-479},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{LaValle1999,
  author = {LaValle, S. M. and Kuffner, J. J. , Jr. },
  title = {Randomized kinodynamic planning},
  booktitle = {Proc. IEEE Int Robotics and Automation Conf},
  year = {1999},
  volume = {1},
  pages = {473--479},
  abstract = {The paper presents a state-space perspective on the kinodynamic planning
	problem, and introduces a randomized path planning technique that
	computes collision-free kinodynamic trajectories for high degree-of-freedom
	problems. By using a state space formulation, the kinodynamic planning
	problem is treated as a 2n-dimensional nonholonomic planning problem,
	derived from an n-dimensional configuration space. The state space
	serves the same role as the configuration space for basic path planning.
	The bases for the approach is the construction of a tree that attempts
	to rapidly and uniformly explore the state space, offering benefits
	that are similar to those obtained by successful randomized planning
	methods, but applies to a much broader class of problems. Some preliminary
	results are discussed for an implementation that determines the kinodynamic
	trajectories for hovercrafts and satellites in cluttered environments
	resulting in state spaces of up to twelve dimensions},
  doi = {10.1109/ROBOT.1999.770022},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@ARTICLE{Lee,
  author = {Daniel D. Lee and H. Sebastian Seung},
  title = {The Manifold Ways of Perception},
  journal = {Science},
  year = {2000},
  volume = {290},
  pages = {2268-69},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{LeeNIPS00,
  author = {Daniel D. Lee and H. Sebastian Seung},
  title = {Algorithms for Non-negative Matrix Factorization},
  booktitle = nips,
  year = {2000},
  volume = {13},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Lengyel1990,
  author = {Lengyel, Jed and Reichert, Mark and Donald, Bruce R. and Greenberg,
	Donald P.},
  title = {Real-time robot motion planning using rasterizing computer graphics
	hardware},
  booktitle = {SIGGRAPH '90: Proceedings of the 17th annual conference on Computer
	graphics and interactive techniques},
  year = {1990},
  pages = {327--335},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {We present a real-time robot motion planner that is fast and complete
	to a resolution. The technique is guaranteed to find a path if one
	exists at the resolution, and all paths returned are safe. The planner
	can handle any polyhedral geometry of robot and obstacles, including
	disjoint and highly concave unions of polyhedra.The planner uses
	standard graphics hardware to rasterize configuration space obstacles
	into a series of bitmap slices, and then uses dynamic programming
	to create a navigation function (a discrete vector-valued function)
	and to calculate paths in this rasterized space. The motion paths
	which the planner produces are minimal with respect to an L1 (Manhattan)
	distance metric that includes rotation as well as translation.Several
	examples are shown illustrating the competence of the planner at
	generating planar rotational and translational plans for complex
	two and three dimensional robots. Dynamic motion sequences, including
	complicated and non-obvious backtracking solutions, can be executed
	in real time.},
  doi = {http://doi.acm.org/10.1145/97879.97915},
  isbn = {0-89791-344-2},
  location = {Dallas, TX, USA},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@PHDTHESIS{Leven2001,
  author = {Leven, Peter J.},
  title = {A framework for real-time path planning in changing environments},
  school = {University of Illinois},
  year = {2001},
  address = {Champaign, IL, USA},
  note = {Adviser-Hutchinson, Seth},
  isbn = {0-493-27456-1},
  order_no = {AAI3017143},
  owner = {Mihail},
  publisher = {University of Illinois at Urbana-Champaign},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Li2009,
  author = {Li, Cen and Bodkin, Bryan and Lancaster, James},
  title = {Programming Khepera II robot for autonomous navigation and exploration
	using the hybrid architecture},
  booktitle = {ACM-SE 47: Proceedings of the 47th Annual Southeast Regional Conference},
  year = {2009},
  pages = {1--6},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/1566445.1566488},
  isbn = {978-1-60558-421-8},
  location = {Clemson, South Carolina},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Li2008,
  author = {Yuan Ping Li and Ang, M. H. and Wei Lin},
  title = {Slip modelling, detection and control for redundantly actuated wheeled
	mobile robots},
  booktitle = {Proc. IEEE/ASME International Conference on Advanced Intelligent
	Mechatronics AIM 2008},
  year = {2008},
  pages = {967--972},
  month = jul # { 2--5,},
  doi = {10.1109/AIM.2008.4601792},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@ARTICLE{Likhachev2009a,
  author = {Likhachev, Maxim and Ferguson, Dave},
  title = {Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles},
  journal = {Int. J. Rob. Res.},
  year = {2009},
  volume = {28},
  pages = {933--945},
  number = {8},
  abstract = {In this paper, we present an algorithm for generating complex dynamically
	feasible maneuvers for autonomous vehicles traveling at high speeds
	over large distances. Our approach is based on performing anytime
	incremental search on a multi-resolution, dynamically feasible lattice
	state space. The resulting planner provides real-time performance
	and guarantees on and control of the suboptimality of its solution.
	We provide theoretical properties and experimental results from an
	implementation on an autonomous passenger vehicle that competed in,
	and won, the Urban Challenge competition.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364909340445},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.07.05}
}

@ARTICLE{likhachev_ferguson_ijrr09,
  author = {Maxim Likhachev and Dave Ferguson},
  title = {Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles},
  journal = {International Journal of Robotics Research},
  year = {2009},
  volume = {28},
  pages = {933-945},
  number = {8},
  month = {8},
  abstract = {In this paper, we present an algorithm for generating complex dynamically
	feasible maneuvers for autonomous vehicles traveling at high speeds
	over large distances. Our approach is based on performing anytime
	incremental search on a multi-resolution, dynamically feasible lattice
	state space. The resulting planner provides real-time performance
	and guarantees on and control of the suboptimality of its solution.
	We provide theoretical properties and experimental results from an
	implementation on an autonomous passenger vehicle that competed in,
	and won, the Urban Challenge competition.},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{likhachev_etal_05,
  author = {Maxim Likhachev and Dave Ferguson and Geoff Gordon and Anthony Stentz
	and Sebastian Thrun},
  title = {Anytime Dynamic {A}*: An Anytime, Replanning Algorithm},
  booktitle = {AAAI},
  year = {2005},
  owner = {Mihail},
  timestamp = {2010.03.10}
}

@ARTICLE{Likhachev2009,
  author = {Likhachev, M. and Stentz, A. },
  title = {Path Clearance},
  journal = {IEEE Robotics Automation Magazine},
  year = {2009},
  volume = {16},
  pages = {62--72},
  number = {2},
  month = jun,
  doi = {10.1109/MRA.2009.932525},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Likhachev2008,
  author = {Likhachev, M. and Stentz, A. },
  title = {Information value-driven approach to path clearance with multiple
	scout robots},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2008},
  year = {2008},
  pages = {2651--2656},
  month = may # { 19--23,},
  doi = {10.1109/ROBOT.2008.4543612},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{likhachev_stentz_aaai08,
  author = {Maxim Likhachev and Anthony Stentz},
  title = {R* search},
  booktitle = {AAAI},
  year = {2008},
  owner = {Mihail},
  timestamp = {2010.06.30}
}

@INPROCEEDINGS{Likhachev2007,
  author = {Likhachev, Maxim and Stentz, Anthony},
  title = {Goal directed navigation with uncertainty in adversary locations},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2007},
  year = {2007},
  pages = {4127--4134},
  month = oct,
  doi = {10.1109/IROS.2007.4399605},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Lim2005,
  author = {Lim, Ser-Nam and Mittal, Anurag and Davis, Larry},
  title = {Constructing task visibility intervals for a surveillance system},
  booktitle = {VSSN '05: Proceedings of the third ACM international workshop on
	Video surveillance \&amp; sensor networks},
  year = {2005},
  pages = {141--148},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {One of the goals of a multi-camera surveillance system is to collect
	useful video clips of objects in the scene. Objects in the collected
	videos should be unobstructed, in the field of view of the given
	camera, and meet task-specific resolution requirement. For this purpose,
	we describe an algorithm that constructs "task visibility intervals",
	which are tuples of information about what to sense (task-object
	pairs), when to sense (feasible future temporal intervals to start
	a task) and how to sense (the camera to use and the corresponding
	viewing angles and focal length). The algorithm first looks for temporal
	intervals within which the angular extents of objects overlap each
	other, causing the object farthest from the given camera to be occluded.
	Outside these intervals, sub-intervals are then constructed such
	that feasible camera settings exist for capturing the object. Experimental
	results are provided to illustrate the system capabilities in constructing
	such task visibility intervals, followed by scheduling them using
	a greedy algorithm.},
  doi = {http://doi.acm.org/10.1145/1099396.1099421},
  isbn = {1-59593-242-9},
  location = {Hilton, Singapore},
  owner = {Mihail},
  timestamp = {2010.03.03}
}

@INPROCEEDINGS{lin_canny_icra91,
  author = {Lin, M. C. and Canny, J. F. },
  title = {A fast algorithm for incremental distance calculation},
  booktitle = icra,
  year = {1991},
  pages = {1008--1014},
  abstract = {A simple and efficient algorithm for finding the closest points between
	two convex polynomials is described. Data from numerous experiments
	tested on a broad set of convex polyhedra on <e1>R</e1><sup>3</sup>
	show that the running time is roughly constant for finding closest
	points when nearest points are approximately known and is linear
	in total number of vertices if no special initialization is done.
	This algorithm can be used for collision detection, computation of
	the distance between two polyhedra in three-dimensional space, and
	other robotics problems. It forms the heart of the motion planning
	algorithm previously presented by the authors (Proc. IEEE ICRA, p.1554-9,
	1990)},
  doi = {10.1109/ROBOT.1991.131723},
  owner = {mihail},
  timestamp = {2012.01.27}
}

@INPROCEEDINGS{lindemann_lavalle_04,
  author = {Lindemann, S.R. and LaValle, S.M.},
  title = {Steps towared derandomizing {RRT}s},
  booktitle = {Proc. of the Fourth International Workshop on Robot Motion and Control},
  year = {2004},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{lindemann_lavalle_03,
  author = {Lindemann, S.R. and LaValle, S.M.},
  title = {Incremental low-discrepancy lattice methods for motion planning},
  booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
  year = {2003},
  pages = {2920-2927},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{lindemann_lavalle_03b,
  author = {Lindemann, S.R. and LaValle, S.M.},
  title = {Current issues in sampling-based motion planning},
  booktitle = {Proc. of the International Symposium of Robotics Research},
  year = {2003},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{,
  author = {Lindemann, S. R. and Hussein, I. I. and LaValle, S. M. },
  title = {Real Time Feedback Control for Nonholonomic Mobile Robots With Obstacles},
  booktitle = {Proc. 45th IEEE Conf. Decision and Control},
  year = {2006},
  pages = {2406--2411},
  abstract = {We introduce a method for constructing smooth feedback laws for a
	nonholonomic robot in a 2-dimensional polygonal workspace. First,
	we compute a smooth feedback law in the workspace without taking
	the nonholonomic constraints into account. We then give a general
	technique for using this to construct a new smooth feedback law over
	the entire 3-dimensional configuration space (consisting of position
	and orientation). The trajectories of the resulting feedback law
	will be smooth and will stabilize the position of the robot in the
	plane, neglecting the orientation. Our method is suitable for real
	time implementation and can be applied to dynamic environments},
  doi = {10.1109/CDC.2006.377631},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@ARTICLE{Lindemann2009,
  author = {Lindemann, Stephen R. and Lavalle, Steven M.},
  title = {Simple and Efficient Algorithms for Computing Smooth, Collision-free
	Feedback Laws Over Given Cell Decompositions},
  journal = {Int. J. Rob. Res.},
  year = {2009},
  volume = {28},
  pages = {600--621},
  number = {5},
  abstract = {This paper presents a novel approach to computing feedback laws in
	the presence of obstacles. Instead of computing a trajectory between
	a pair of initial and goal states, our algorithms compute a vector
	field over the entire state space; all trajectories obtained from
	following this vector field are guaranteed to asymptotically reach
	the goal state. As a result, the vector field globally solves the
	navigation problem and provides robustness to disturbances in sensing
	and control. The vector field's integral curves (system trajectories)
	are guaranteed to avoid obstacles and are C&infin; smooth. We construct
	a vector field with these properties by partitioning the space into
	simple cells, defining local vector fields for each cell, and smoothly
	interpolating between them to obtain a global vector field. We present
	an algorithm that computes these feedback controls for a kinematic
	point robot in an arbitrary dimensional space with piecewise linear
	boundary; the algorithm requires minimal preprocessing of the environment
	and is extremely fast during execution. For many practical applications
	in two-dimensional environments, full computation can be done in
	milliseconds. We also present an algorithm for computing feedback
	laws over cylindrical algebraic decompositions, thereby solving a
	smooth feedback version of the generalized piano movers' problem.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364908099462},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{,
  author = {Lindemann, S. R. and LaValle, S. M. },
  title = {Smooth Feedback for Car-Like Vehicles in Polygonal Environments},
  booktitle = {Proc. IEEE Int Robotics and Automation Conf},
  year = {2007},
  pages = {3104--3109},
  abstract = {We introduce a method for constructing provably safe smooth feedback
	laws for car-like robots in obstacle-cluttered polygonal environments.
	The robot is taken to be a point with motion that must satisfy bounded
	path curvature constraints. We construct a global feedback plan (or
	control policy) by partitioning the environment into convex cells,
	computing a discrete plan on the resulting cell complex, and generating
	local control laws on the state space that are safe, consistent with
	the high level plan, and satisfy smoothness conditions. The trajectories
	of the resulting global feedback plan are smooth and stabilize the
	position of the robot in the plane, neglecting the orientation.},
  doi = {10.1109/ROBOT.2007.363944},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{lindemann_lavalle_icra06,
  author = {Lindemann, S. R. and LaValle, S. M. },
  title = {Multiresolution approach for motion planning under differential constraints},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation},
  year = {2006},
  pages = {139--144},
  abstract = {In this paper, we present an incremental, multiresolution motion planning
	algorithm designed for systems with differential constraints. Planning
	for these systems is more difficult than ordinary path planning due
	to the presence of momentum (drift) or nonholonomic velocity constraints.
	Given a motion planning problem for such a system and that a solution
	to the problem exists, then a finite reachability graph containing
	a solution trajectory is guaranteed to exist, under very reasonable
	conditions. In general, this graph can be generated using sufficiently
	dense input space sampling, sufficiently small time step, and sufficiently
	large tree depth. We show how to find and search such a tree in an
	incremental, multiresolution way. We prove the completeness of our
	algorithm, discuss related practical concerns, and show experimental
	results for several systems},
  doi = {10.1109/ROBOT.2006.1641174},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Lindemann, S. R. and LaValle, S. M. },
  title = {Smoothly Blending Vector Fields for Global Robot Navigation},
  booktitle = {Proc. and 2005 European Control Conf. Decision and Control CDC-ECC
	'05. 44th IEEE Conf},
  year = {2005},
  pages = {3553--3559},
  abstract = {We introduce a new algorithm for constructing smooth vector fields
	for global robot navigation. Given a ddimensional cell complex with
	each cell a convex polygon, our algorithm defines a number of local
	vector fields: one for each cell, and one for each face connecting
	two cells together. We smoothly blend these component vector fields
	together using bump functions; the precomputation of the component
	vector field and all queries can be done in linear time. The integral
	curves of the resulting globally-defined vector field are guaranteed
	to arrive at a neighborhood of the goal state in finite time. Except
	for a set of measure zero, the vector field is smooth. The resulting
	vector field can be used directly to control kinematic systems or
	can be used to develop dynamic control policies. We prove convergence
	for the integral curves of the vector fields produced by our algorithm
	and give examples illustrating the practical advantages of our technique.},
  doi = {10.1109/CDC.2005.1582713},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Lindemann, S. R. and LaValle, S. M. },
  title = {Steps toward derandomizing RRTs},
  booktitle = {Proc. Fourth Int. Workshop RoMoCo'04 Robot Motion and Control},
  year = {2004},
  pages = {271--277},
  abstract = {We present two new motion planning algorithms, based on the rapidly
	exploring random tree (RRT) family of algorithms. These algorithms
	represent the first work in the direction of derandomizing RRTs;
	this is a very challenging problem due to the way randomization is
	used in RRTs. In RRTs, randomization is used to create Voronoi bias,
	which causes the search trees to rapidly explore the state space.
	Our algorithms take steps to increase the Voronoi bias and to retain
	this property without the use of randomization. Studying these and
	related algorithms would improve our understanding of how efficient
	exploration can be accomplished, and would hopefully lead to improved
	planners. We give experimental results that illustrate how the new
	algorithms explore the state space and how they compare with existing
	RRT algorithms.},
  doi = {10.1109/ROMOCO.2004.240739},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Lindemann, S. R. and LaValle, S. M. },
  title = {Incrementally reducing dispersion by increasing Voronoi bias in RRTs},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA '04},
  year = {2004},
  volume = {4},
  pages = {3251--3257},
  abstract = {We discuss theoretical and practical issues related to using Rapidly-Exploring
	Random Trees (RRTs) to incrementally reduce dispersion in the configuration
	space. The original RRT planners use randomization to create Voronoi
	bias, which causes the search trees to rapidly explore the state
	space. We introduce RRT-like planners based on exact Voronoi diagram
	computation, as well as sampling-based algorithms which approximate
	their behavior. We give experimental results illustrating how the
	new algorithms explore the configuration space and how they compare
	with existing RRT algorithms. Initial results show that our algorithms
	are advantageous compared to existing RRTs, especially with respect
	to the number of collision checks and nodes in the search tree.},
  doi = {10.1109/ROBOT.2004.1308755},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Lindemann, S. R. and LaValle, S. M. },
  title = {Incremental low-discrepancy lattice methods for motion planning},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA '03},
  year = {2003},
  volume = {3},
  pages = {2920--2927},
  abstract = {We present deterministic sequences for use in sampling-based approaches
	to motion planning. They simultaneously combine the qualities found
	in many other sequences: i) the incremental and self-avoiding tendencies
	of pseudo-random sequences, ii) the lattice structure provided by
	multiresolution grids, and iii) low-discrepancy and low-dispersion
	measures of uniformity provided by quasi-random sequences. The resulting
	sequences can be considered as multiresolution grids in which points
	may be added one at a time, while satisfying the sampling qualities
	at each iteration. An efficient, recursive algorithm for generating
	the sequences is presented and implemented. Early experiments show
	promising performance by using the samples in search algorithms to
	solve motion planning problems.},
  doi = {10.1109/ROBOT.2003.1242039},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{lindemann_yershova_lavalle_04",
  author = {Lindemann, S.R., Yershova, A. and LaValle, S.M.},
  title = {Incremental grid sampling strategies in robotics},
  booktitle = {Proc. of the Workshop on Algorithmic Foundations of Robotics},
  year = {2004},
  pages = {297-312},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Lingelbach2004,
  author = {Lingelbach, F. },
  title = {Path planning for mobile manipulation using probabilistic cell decomposition},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems (IROS 2004)},
  year = {2004},
  volume = {3},
  pages = {2807--2812},
  month = sep # { 28--} # oct # { 2,},
  doi = {10.1109/IROS.2004.1389834},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@ARTICLE{Littlestone88,
  author = {Nick Littlestone},
  title = {Learning Quickly When Irrelevant Attributes Abound: {A} New Linear
	Threshold Algorithm},
  journal = mlj,
  year = {1988},
  volume = {2},
  pages = {245-318},
  number = {4},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@PHDTHESIS{LittmanPhD,
  author = {Michael L. Littman},
  title = {Algorithms for Sequential Decision Making},
  school = {Brown University},
  year = {1996},
  address = {Providence, RI},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Littman94,
  author = {Michael L. Littman},
  title = {Memoryless Policies: {Theoretical} Limitations and Practical Results},
  booktitle = {From Animals to Animats 3},
  year = {1994},
  address = {Brighton, UK},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{LittmanICML94,
  author = {Michael L. Littman},
  title = {Markov games as a framework for multi-agent reinforcement learning},
  booktitle = ml94,
  year = {1994},
  pages = {157--163},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  optaddress = {San Francisco, CA},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Liu2009b,
  author = {Liu, Hong and Wen, He and Li, Yan},
  title = {Path planning in changing environments by using optimal path segment
	search},
  booktitle = {IROS'09: Proceedings of the 2009 IEEE/RSJ international conference
	on Intelligent robots and systems},
  year = {2009},
  pages = {1439--1445},
  address = {Piscataway, NJ, USA},
  publisher = {IEEE Press},
  abstract = {This paper presents a novel planner for manipulators and robots in
	changing environments. When environments are complicated, it's always
	difficult to find a completely valid path solution, which is essential
	for many methods. However, our planner searches for several path
	segments to make robot move towards its goal as much as possible
	even though such a complete solution doesn't exist currently. In
	the learning phase, the planner begins by building a roadmap that
	captures the topological structure of the configuration space in
	a workspace without obstacles. In the query phase, the planner searches
	for a solution path in the roadmap with the A* algorithm and performs
	roadmap updating using the lazy evaluation idea concurrently with
	the solution search process. If a completely valid solution is found,
	it will be adopted immediately. Otherwise the planner will collect
	a set of maximum valid path segments and then select the optimal
	one for planning in the execution process. The searching and execution
	process will be repeatedly performed until a goal configuration is
	reached. In plentiful experiments, our planner shows promising performances.},
  isbn = {978-1-4244-3803-7},
  location = {St. Louis, MO, USA},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Liu2009,
  author = {Liu, Yugang and Liu, Guangjun},
  title = {Mobile manipulation using tracks of a tracked mobile robot},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2009},
  year = {2009},
  pages = {948--953},
  abstract = {This paper presents the investigation on mobile manipulation of a
	self-reconfigurable tracked mobile robot, using its tracks for both
	manipulation and locomotion. It is desirable for a mobile robot to
	possess manipulation capability in unstructured environments, especially
	in the scenario which is unsuitable for human beings. However, it
	is not convenient for such a mobile robot to carry an onboard manipulator
	and perform grasping and placing operations. An alternative is to
	realize the manipulation potential of the existing parts and perform
	manipulation without attaching additional hardware. Besides the enhanced
	locomotion ability, a self-reconfigurable tracked mobile robot has
	great potential in manipulation, which may take the forms of box-pushing,
	cylinder-moving or lateral hitting. However, the manipulation with
	tracks has to be controlled properly. One challenge is to optimize
	the tracks' configuration so as to get the optimal contact point.
	Furthermore, the speed and acceleration of the mobile robot have
	dramatic influence on mobile manipulation with tracks. To verify
	the effectiveness of the proposed algorithms, experiments are conducted
	using a tracked mobile robot in our laboratory.},
  doi = {10.1109/IROS.2009.5354670},
  keywords = {acceleration control, manipulators, mobile robots, tracking, velocity
	control, acceleration control, enhanced locomotion ability, manipulation
	capability, manipulation potential, mobile manipulation, onboard
	manipulator, self-reconfigurable tracked mobile robot, speed control},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Liu2009a,
  author = {Yugang Liu and Guangjun Liu},
  title = {Mobile manipulation using tracks of a tracked mobile robot},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2009},
  year = {2009},
  pages = {948--953},
  month = oct # { 10--15,},
  doi = {10.1109/IROS.2009.5354670},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{LochICML98,
  author = {John Loch and Satinder P. Singh},
  title = {Using Eligibility Traces to Find the Best Memoryless Policy in Partially
	Observable {Markov} Decision Processes},
  booktitle = ml98,
  year = {1998},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  optaddress = {Madison, WI},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INCOLLECTION{Loeb,
  author = {Loeb, Gerry E.},
  title = {Prosthetics},
  booktitle = {Handbook of Brain Theory and Neural Networks},
  publisher = {The {MIT} Press},
  year = {2001},
  editor = {Arbib, Michael},
  edition = {2},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Loizou2003,
  author = {Loizou, S. G.  and Tanner, H. G.  and Kumar, V.  and Kyriakopoulos,
	K. J. },
  title = {Closed loop motion planning and control for mobile robots in uncertain
	environments},
  booktitle = {Proc. 42nd IEEE Conf. Decision and Control},
  year = {2003},
  volume = {3},
  pages = {2926--2931},
  __markedentry = {[mihail:]},
  abstract = {In this paper we present an extension to the navigation function methodology
	[<span class='snippet'>Rimon</span>, E. and <span class='snippet'>Koditschek</span>,
	D.E., 1992], [Tanner, H.G., et al., 2001] to the case where unmodelled
	obstacles are introduced in the workspace. A feedback control law
	is derived, based on the navigation function built on the initial
	workspace. Global convergence and collision avoidance properties
	are established. The derived closed form control law is suitable
	for real time implementation. Collision avoidance and global convergence
	properties are verified through computer simulations.},
  doi = {10.1109/CDC.2003.1273070},
  owner = {mihail},
  timestamp = {2012.03.12}
}

@ARTICLE{lozano-perez_83,
  author = {Lozano-Perez, T.},
  title = {Spatial planning: A configuration space approach},
  journal = {IEEE Transactions on Computers},
  year = {1983},
  volume = {C-32},
  pages = {108-120},
  number = {2}
}

@ARTICLE{lozano-perez_wesley_79,
  author = {Lozano-Perez, T. and Wesley, M. A.},
  title = {An algorithm for planning collision-free paths among polyhedral obstacles},
  journal = {Communications of the ACM},
  year = {1979},
  volume = {22},
  pages = {560-570},
  number = {10}
}

@ARTICLE{lukac_etal_air04,
  author = {Martin Lukac and Marek Perkowski and Hilton Goi and Mihail Pivtoraiko
	and Chung Hyo Yu and Kyusik Chung and Hyunkoo Jee and Byung-Guk Kim
	and Yong-Duk Kim},
  title = {Evolutionary Approach to Quantum and Reversible Circuit Synthesis},
  journal = {Artificial Intelligence Review},
  year = {2003},
  volume = {20},
  pages = {361--417},
  number = {3-4},
  abstract = {The paper discusses the evolutionary computation approach to the problem
	of optimal synthesis of Quantum and Reversible Logic circuits. Our
	approach uses standard Genetic Algorithm (GA) and its relative power
	as compared to previous approaches comes from the encoding and the
	formulation of the cost and fitness functions for quantum circuits
	synthesis. We analyze new operators and their role in synthesis and
	optimization processes. Cost and fitness functions for Reversible
	Circuit synthesis are introduced as well as local optimizing transformations.
	It is also shown that our approach can be used alternatively for
	synthesis of either reversible or quantum circuits without a major
	change in the algorithm. Results are illustrated on synthesized Margolus,
	Toffoli, Fredkin and other gates and Entanglement Circuits. This
	is for the first time that several variants of these gates have been
	automatically synthesized from quantum primitives.},
  bib2html_pubtype = {Journals},
  bib2html_rescat = {Reversible Circuit Synthesis},
  doi = {10.1023/B:AIRE.0000006605.86111.79},
  publisher = {Springer Netherlands}
}

@INPROCEEDINGS{lukac_etal_sbp02,
  author = {Martin Lukac and Mihail Pivtoraiko and Alan Mischenko and Marek Perkowski},
  title = {Automated Synthesis of Generalized Reversible Cascades using Genetic
	Algorithms},
  booktitle = {Proceedings of the International Symposium on Boolean Problems},
  year = {2002},
  address = {Freiberg, Germany},
  abstract = {We propose an automated synthesis of Reversible logic (RL) circuits
	using Darwinian and Lamarckian Genetic Algorithms (GA). Our designs
	are in a form of cascades of generalized gates which generalize factorized
	Exclusive-Or-Sum-of-Products (ESOP) circuits. GA can be used to explore
	the problem space of combinational functions and here it is used
	to evolve reversible logic circuits. We emphasize the role of problem
	encoding - a well-designed encoding leads to improved results. Our
	method with well-encoded circuits is compared to standard method
	on classical benchmarks in GA, and shows good results for synthesis
	of both random functions and benchmark functions with practical meaning,
	such as adders.},
  bib2html_pubtype = {Refereed Conferences},
  bib2html_rescat = {Reversible Circuit Synthesis},
  owner = {mihail},
  timestamp = {2010.08.07}
}

@ARTICLE{lumelsky_stepanov_87,
  author = {V.J. Lumelsky and A.A. Stepanov},
  title = {Path planning strategies for a point mobile automaton moving amidst
	unknown obstacles of arbitrary shape},
  journal = {Algorithmica},
  year = {1987},
  volume = {2},
  pages = {403-430},
  owner = {Mihail},
  timestamp = {2010.04.26}
}

@INPROCEEDINGS{Luntz1998,
  author = {Luntz, Jonathan and Messner, William and Choset, Howie},
  title = {Velocity field design for the modular distributed manipulator system
	(MDMS)},
  booktitle = {WAFR '98: Proceedings of the third workshop on the algorithmic foundations
	of robotics on Robotics : the algorithmic perspective},
  year = {1998},
  pages = {35--47},
  address = {Natick, MA, USA},
  publisher = {A. K. Peters, Ltd.},
  isbn = {1-56881-081-4},
  location = {Houston, Texas, United States},
  owner = {Mihail},
  timestamp = {2010.02.05}
}

@INPROCEEDINGS{Ly2004,
  author = {Ly, D. N. and Regenstein, K. and Asfour, T. and Dillmann, R. },
  title = {A modular and distributed embedded control architecture for humanoid
	robots},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems (IROS 2004)},
  year = {2004},
  volume = {3},
  pages = {2775--2780},
  month = sep # { 28--} # oct # { 2,},
  doi = {10.1109/IROS.2004.1389829},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INBOOK{maimone_etal_chapter,
  chapter = {Surface Navigation and Mobility Intelligence on the Mars Exploration
	Rovers},
  pages = {45-69},
  title = {Intelligence for Space Robotics},
  publisher = {TSI Press},
  year = {2006},
  author = {Mark Maimone and Jeffrey Biesiadecki and Edward Tunstel and Yang
	Cheng and Chris Leger},
  __markedentry = {[mihail]},
  alteditor = {Ayanna M. Howard and Edward W. Tunstel},
  optmonth = {March},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INBOOK{maimone_etal_iser04,
  pages = {3-13},
  title = {Autonomous Navigation Results from the Mars Exploration Rover (MER)
	Mission},
  publisher = {Springer Berlin/Heidelberg},
  year = {2006},
  author = {Mark Maimone and Andrew Johnson and Yang Cheng and Reg Willson and
	Larry Matthies},
  __markedentry = {[mihail]},
  alteditor = {Marcelo H. Jr Ang and Oussama Khatib},
  booktitle = {Experimental Robotics IX},
  optvolume = {21},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{maimone_leger_biesiadecki_icra07,
  author = {Mark W. Maimone and P. Chris Leger and Jeffrey J. Biesiadecki},
  title = {Overview of the Mars Exploration Rovers' Autonomous Mobility and
	Vision Capabilities},
  booktitle = icra,
  year = {2007},
  address = {Rome, Italy},
  month = {April},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Malik2009,
  author = {Malik, Rahul and Bajcsy, Peter},
  title = {Optimal stereo camera placement under spatially varying resolution
	requirements},
  booktitle = {IMMERSCOM '09: Proceedings of the 2nd International Conference on
	Immersive Telecommunications},
  year = {2009},
  pages = {1--6},
  address = {ICST, Brussels, Belgium, Belgium},
  publisher = {ICST (Institute for Computer Sciences, Social-Informatics and Telecommunications
	Engineering)},
  abstract = {With the advent of virtual spaces, there has been a need to integrate
	physical world with virtual spaces. The integration can be achieved
	by real-time 3D imaging using stereo cameras followed by fusion of
	virtual and physical space information. Systems that enable such
	information fusions over several geographically distributed locations
	are called tele-immersive and should be easily deployed. The optimal
	placement of 3D cameras becomes the key to achieving high quality
	3D information about physical spaces. In this paper, we present an
	optimization framework for automating the placement of multiple stereo
	cameras in an application specific manner. The framework eliminates
	ad-hoc experimentations and sub-optimal camera placements for end
	applications by running our simulation code. The camera placement
	problem is formulated as optimization problem over continuous physical
	space with the objective function based on 3D information error and
	a set of constraints that generalize application specific requirements.
	The novelty of our work lies in developing the theoretical optimization
	framework under spatially varying resolution requirements and in
	demonstrating improved camera placements with our framework in comparison
	with other placement techniques.},
  isbn = {978-963-9799-39-4},
  location = {Berkeley, California},
  owner = {Mihail},
  timestamp = {2010.03.03}
}

@INPROCEEDINGS{Mansour99,
  author = {Yishay Mansour},
  title = {Reinforcement learning and mistake bounded algorithms},
  booktitle = colt99,
  year = {1999},
  pages = {183--192},
  address = {New York, NY},
  publisher = {ACM Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@PHDTHESIS{Marbach,
  author = {Peter Marbach},
  title = {Simulation-Based Methods for {Markov} Decision Processes},
  school = {MIT},
  year = {1998},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{MarbachNIPS98,
  author = {Marbach, Peter and Mihatsch, O. and Schulte, M. and Tsitsiklis, John
	N.},
  title = {Reinforcement learning for call admission control and routing in
	integrated service networks},
  booktitle = nips,
  year = {1998},
  volume = {11},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{MarbachIEEE00,
  author = {Marbach, Peter and Mihatsch, O. and Tsitsiklis, John N.},
  title = {Call Admission Control and Routing in Integrated Service Networks
	Using Neuro-Dynamic Programming},
  journal = {IEEE Journal on Selected Areas in Communications},
  year = {2000},
  volume = {18},
  pages = {197-208},
  number = {2},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Marbach00,
  author = {Peter Marbach and John N. Tsitsiklis},
  title = {Gradient-Based Optimization of {Markov} Reward Processes: Practical
	Variants},
  journal = mlj,
  year = {2000},
  pages = {1-25},
  __markedentry = {[mihail]},
  optnote = {submitted},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@TECHREPORT{Marbach98,
  author = {Peter Marbach and John N. Tsitsiklis},
  title = {Simulation-Based Optimization of {Markov} Reward Processes},
  institution = {MIT},
  year = {1998},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Marchand1999,
  author = {Marchand, \'{E}ric and Chaumette, Fran\c{c}ois},
  title = {An Autonomous Active Vision System for Complete and Accurate 3D Scene
	Reconstruction},
  journal = {Int. J. Comput. Vision},
  year = {1999},
  volume = {32},
  pages = {171--194},
  number = {3},
  abstract = {We propose in this paper an active vision approach for},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1023/A:1008161528515},
  issn = {0920-5691},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.03.03}
}

@PHDTHESIS{Martin98,
  author = {Mario {Mart\'\i n}},
  title = {Reinforcement Learning for Embedded Agents facing Complex Tasks},
  school = {Universitat Politecnica de Catalunya},
  year = {1998},
  address = {Barcelona, Spain},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Mateus2005,
  author = {Mateus, D. and Avina, G. and Devy, M. },
  title = {Robot Visual Navigation in Semi-structured Outdoor Environments},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation},
  year = {2005},
  pages = {4691--4696},
  abstract = {This work describes a navigation framework for robots in semi-structured
	outdoor environments which enables planning of semantic tasks by
	chaining of elementary visual-based movement primitives. Navigation
	is achieved by understanding the underlying world behind the image
	and using these results as a guideline to control the robot. As retrieving
	semantic information from vision is computationally demanding, short-term
	tasks are planned and executed while new vision information is processed.
	Thanks to learning techniques, the methods are adapted to different
	environment conditions. Fusion and filtering techniques provide reliability
	and stability to the system. The procedures have been fully integrated
	and tested with a real robot in an experimental environment. Results
	are discussed.},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@PHDTHESIS{McCallumPhD,
  author = {McCallum, Andrew K.},
  title = {Reinforcement Learning with Selective Perception and Hidden State},
  school = {University of Rochester},
  year = {1996},
  address = {Rochester, NY},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{McCann2006,
  author = {McCann, J. and Pollard, N. S. and Srinivasa, S.},
  title = {Physics-based motion retiming},
  booktitle = {SCA '06: Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium
	on Computer animation},
  year = {2006},
  pages = {205--214},
  address = {Aire-la-Ville, Switzerland, Switzerland},
  publisher = {Eurographics Association},
  abstract = {By changing only the playback timing of a motion sequence, an animator
	can achieve a variety of effects that alter our perception of an
	event. In some scenarios, it may be important to consider physical
	properties of the motion when retiming (e.g., to preserve physical
	plausibility). However, existing retiming solutions can be quite
	time consuming when physical parameters are considered. This paper
	presents an interactive method for creating optimal motion retimings
	that takes into account physically based constraints and objective
	functions. We achieve fast performance through a precomputation phase
	where constraints are projected into the two-dimensional space of
	velocities and accelerations along the input motion path. Unlike
	previous approaches, our precomputation technique allows for rapid
	computation of plausible contact forces that result from retiming,
	and it also accommodates changing physical parameters. We demonstrate
	our approach by creating physically plausible results for changes
	in motion duration, manipulations of the gravity vector, and modifications
	of character limb masses.},
  isbn = {3-905673-34-7},
  location = {Vienna, Austria},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@INBOOK{McDiarmid89,
  chapter = {On the method of bounded differences},
  pages = {148-188},
  title = {Surveys in Combinatorics},
  publisher = {Cambridge University Press},
  year = {1989},
  author = {McDiarmid, C.},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Merhav98,
  author = {N. Merhav and M. Feder},
  title = {Universal Prediction},
  journal = {IEEE Transactions on Information Theory},
  year = {1998},
  volume = {44},
  pages = {2124--47},
  number = {6},
  month = {10},
  note = {(Invited paper)},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Meu00,
  title = {The complexity of the first trial in {REINFORCE}},
  publisher = {Unpublished manuscript},
  year = {2000},
  author = {Nicolas Meuleau},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Meuleau99,
  author = {Nicolas Meuleau and Paul Bourgine},
  title = {Exploration of Multi-State Environments: Local Measures and Back-Propagation
	of Uncertainty},
  journal = mlj,
  year = {1999},
  volume = {35},
  pages = {117--154},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Meuleau98,
  author = {Nicolas Meuleau and Milos Hauskrecht and Kee-Eung Kim and Leonid
	Peshkin and Leslie Pack Kaelbling and Thomas Dean and Craig Boutilier},
  title = {Solving Very Large Weakly Coupled {M}arkov Decision Processes},
  booktitle = aaai98,
  year = {1998},
  address = {Madison, WI},
  publisher = {AAAI Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@UNPUBLISHED{Meuleau00,
  author = {Meuleau, Nicolas and Kim, Kee-Eung and Peshkin, Leonid and Kaelbling,
	Leslie P.},
  title = {Exploration in Gradient-Based Reinforcement Learning},
  note = {Unpublished},
  __markedentry = {[mihail]},
  optbooktitle = {Seventeenth International Conf. on Machine Learning},
  optvolume = {Submitted},
  owner = {mihail},
  timestamp = {2011.03.21},
  tyear = {2000}
}

@TECHREPORT{MeuleauTR00,
  author = {Meuleau, Nicolas and Peshkin, Leonid and Kim, Kee-Eung},
  title = {Exploration in gradient-based reinforcement learning},
  institution = {MIT AI lab},
  year = {2000},
  number = {1713},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  optkey = {1713},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{MeuleauUAI99,
  author = {Nicolas Meuleau and Leonid Peshkin and Kim, Kee-Eung and Kaelbling,
	Leslie P.},
  title = {Learning finite-state controllers for partially observable environments},
  booktitle = uai99,
  year = {1999},
  pages = {427-436},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{mezouar_chaumette_tro02,
  author = {Youcef Mezouar and Fran\c{c}ois Chaumette},
  title = {Path Planning for Robust Image-based Control},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {2002},
  volume = {18},
  pages = {534-549},
  owner = {mihail},
  timestamp = {2011.09.07}
}

@INPROCEEDINGS{Milke2009,
  author = {Milke, E. and Christen, S. and Prassler, E. and Nowak, W. },
  title = {Towards harmonization and refactoring of mobile manipulation algorithms},
  booktitle = {Proc. International Conference on Advanced Robotics ICAR 2009},
  year = {2009},
  pages = {1--8},
  abstract = {In this paper we present work towards the benchmarking of mobile manipulation
	algorithms. We review the current state-of-the art in mobile manipulation
	and analyze the most prominent algorithms concerning common structures
	and sub-components. We propose and implement harmonized interfaces
	for those components, building upon existing software frameworks
	and libraries. The foundation on the same subcomponents makes it
	possible to evaluate mobile manipulation planning algorithms in a
	systematic way. In particular it enables us to investigate on the
	influence of different combinations of sub-components for the overall
	planning task, for which we present experiments in simulation.},
  keywords = {control engineering computing, libraries, manipulators, mobile robots,
	path planning, interfaces harmonization, libraries, mobile manipulation
	planning algorithms, refactoring, software frameworks, benchmarking,
	best practice algorithms, mobile manipulation, motion planning, robotics},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Milton1992,
  author = {Milton, C. and Jennings, D. },
  title = {Developing strategies for manipulator path planning with orientation
	constraints},
  booktitle = {Proc. First International Conference on (Conf Intelligent Systems
	Engineering Publ. No. 360)},
  year = {1992},
  pages = {7--12},
  abstract = {The paper discusses the work undertaken at the UK National Advanced
	Robotics Research Centre in the area of path planning. Experiments
	have been undertaken with the best first planner (BFP) and random
	path planner (RPP) algorithms developed at Stanford University by
	Barraquand &amp; Latombe (Rep. no. STAN-CS-89-1259, 1989). These
	look particularly suitable for solving a wide range of motion planning
	problems and for providing the basic mechanism for path planning
	in an advanced robotic architecture. From this basic mechanism higher
	level strategies have been developed to enable paths to be planned
	with a predefined orientation of the end effector at the goal location
	or maintaining an orientation throughout the whole path. These functions
	are achieved through placing additional constraints on the search
	through configuration space and modifying the workspace potential},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Ming2008,
  author = {Aiguo Ming and Zhaoxian Xie and Yoshida, T. and Yamashiro, M. and
	Chao Tang and Shimojo, M. },
  title = {Home service by a mobile manipulator system -System configuration
	and basic experiments-},
  booktitle = {Proc. International Conference on Information and Automation ICIA
	2008},
  year = {2008},
  pages = {464--469},
  month = jun # { 20--23,},
  doi = {10.1109/ICINFA.2008.4608044},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@BOOK{Minsky,
  title = {Society of Mind},
  publisher = {The {MIT} Press},
  year = {1996},
  author = {Marvin L. Minsky},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Mirolo2003,
  author = {Mirolo, Claudio and Pagello, Enrico},
  title = {A New Cell-subdivision Approach to Plan Free Translations in Cluttered
	Environments},
  journal = {J. Intell. Robotics Syst.},
  year = {2003},
  volume = {38},
  pages = {5--30},
  number = {1},
  abstract = {This paper presents a thorough discussion of the potential of a new
	cell-subdivision approach to plan translations of a convex polygon
	in a cluttered environment, where the focus is on planning simple
	motions on the basis of a fine-grained description of the workspace.
	A free path is planned in two main stages. The first stage exploits
	a plane-sweep paradigm in order to build a cell subdivision holding
	much relevant topological information on the free space and organizing
	a set of polygonal chains that approximate the boundaries of the
	configuration space obstacles. Then, the computations in the second
	stage are driven by an A* scheme designed to search the cell subdivision.
	During the search the bounding chains are subject to further refinements,
	but the cell graph is no longer modified. Among the remarkable features
	of the proposed technique we can mention: simple interface with the
	geometric modeler, based on two collision-detection primitives; small
	number of cells and adjacencies; incremental characterization of
	the free space. A few numerical results suggest that the new technique
	should be worth considering for applications, where appropriate;
	in particular, it seems to perform better than other approaches based
	on quadtrees. Moreover, it is quite interesting to observe that the
	cost of finding collision-free paths grows with the number of convex
	obstacles, whereas it is almost independent of the overall number
	of sides: we can interpret this result as supporting the choice of
	representing the obstacles decomposed into convex components. A succinct
	comparison between algorithmic and human intuitive path planning
	is also discussed in order to appraise the rate of redundant information
	processed by the algorithm, but we can also see that human planners
	behave significantly better only when the solutions are easy to find.},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1023/A:1026231624387},
  issn = {0921-0296},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.06.29}
}

@ARTICLE{mitchell_96,
  author = {Mitchell, J. S. B.},
  title = {Shortest paths among obstacles in the plane},
  journal = {International Journal of Computational Geometry \& Applications},
  year = {1996},
  volume = {6},
  pages = {309-332},
  number = {3},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@TECHREPORT{Mitchell80,
  author = {Tom M. Mitchell},
  title = {The need for biases in learning generalizations},
  institution = {Department of Computer Science, Rutgers University},
  year = {1980},
  type = {Technical Report},
  number = {CBM-TR-117},
  address = {New Brunswick, New Jersey},
  month = may,
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Mittal2008,
  author = {Mittal, Anurag and Davis, Larry S.},
  title = {A General Method for Sensor Planning in Multi-Sensor Systems: Extension
	to Random Occlusion},
  journal = {Int. J. Comput. Vision},
  year = {2008},
  volume = {76},
  pages = {31--52},
  number = {1},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1007/s11263-007-0057-9},
  issn = {0920-5691},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.03.03}
}

@ARTICLE{Mohammadi2008,
  author = {Mohammadi, Majid and Eshghi, Mohammad},
  title = {Heuristic methods to use don't cares in automated design of reversible
	and quantum logic circuits},
  journal = {Quantum Information Processing},
  year = {2008},
  volume = {7},
  pages = {175--192},
  number = {4},
  abstract = {This paper introduces a broad concept of don't cares in reversible
	and quantum logic circuits. Don't cares are classified into three
	categories: inputs, outputs, and conditions. Some heuristic methods
	to use these don't cares, when an optimization algorithm such as
	genetic algorithm is used, are also presented. We show that, these
	methods decrease the quantum cost of the reversible or quantum logic
	circuit, as well as the design time of the resulting circuit. Some
	examples are also synthesized and optimized using the don't care
	concept and genetic algorithms.},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1007/s11128-008-0081-x},
  issn = {1570-0755},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{Mohy-ud-Din2010,
  author = {Mohy-ud-Din, Hassan and Muhammad, Abubakr},
  title = {Detecting narrow passages in configuration spaces via spectra of
	probabilistic roadmaps},
  booktitle = {SAC '10: Proceedings of the 2010 ACM Symposium on Applied Computing},
  year = {2010},
  pages = {1294--1298},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {In this paper, we explore the connection between the spectral properties
	of a configuration space with those of the underlying probabilistic
	road map. We explore this relationship in a simple motion planning
	example which leads to a new method of characterizing narrow passages
	using the so called graph Laplacian of the PRM.},
  doi = {http://doi.acm.org/10.1145/1774088.1774364},
  isbn = {978-1-60558-639-7},
  location = {Sierre, Switzerland},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{Moldenhauer2009,
  author = {Moldenhauer, Carsten and Sturtevant, Nathan R.},
  title = {Optimal solutions for moving target search},
  booktitle = {AAMAS '09: Proceedings of The 8th International Conference on Autonomous
	Agents and Multiagent Systems},
  year = {2009},
  pages = {1249--1250},
  address = {Richland, SC},
  publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
  isbn = {978-0-9817381-7-8},
  location = {Budapest, Hungary},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{Moll2006,
  author = {Moll, M. and Kavraki, L. E. },
  title = {Path planning for deformable linear objects},
  journal = {IEEE Transactions on Robotics},
  year = {2006},
  volume = {22},
  pages = {625--636},
  number = {4},
  abstract = {We present a new approach to path planning for deformable linear (one-dimensional)
	objects such as flexible wires. We introduce a method for efficiently
	computing stable configurations of a wire subject to manipulation
	constraints. These configurations correspond to minimal-energy curves.
	By restricting the planner to minimal-energy curves, the execution
	of a path becomes easier. Our curve representation is adaptive in
	the sense that the number of parameters automatically varies with
	the complexity of the underlying curve. We introduce a planner that
	computes paths from one minimal-energy curve to another such that
	all intermediate curves are also minimal-energy curves. This planner
	can be used as a powerful local planner in a sampling-based roadmap
	method. This makes it possible to compute a roadmap of the entire
	"shape space," which is not possible with previous approaches. Using
	a simplified model for obstacles, we can find minimal-energy curves
	of fixed length that pass through specified tangents at given control
	points. Our work has applications in cable routing, and motion planning
	for surgical suturing and snake-like robots},
  doi = {10.1109/TRO.2006.878933},
  issn = {1552-3098},
  keywords = {medical robotics, mobile robots, path planning, surgery, cable routing,
	deformable linear objects, flexible wires, minimal-energy curves,
	motion planning, path planning, sampling-based roadmap method, snake-like
	robots, surgical suturing, Deformation, differential geometry, flexible
	manipulation, flexible object representation, minimal-energy curves,
	modeling, motion planning, path planning},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{mombaur_etal_hum08,
  author = {Mombaur, K. and Laumond, J.-P. and Yoshida, E. },
  title = {An optimal control model unifying holonomic and nonholonomic walking},
  booktitle = {Proc. 8th IEEE-RAS Int. Conf. Humanoid Robots Humanoids},
  year = {2008},
  pages = {646--653},
  abstract = {In this paper we explore the underlying principles of natural locomotion
	path generation of human beings. The knowledge of these principles
	is useful to implement biologically inspired path planning algorithms
	on a humanoid robot. The key is to formulate the path planning problem
	as optimal control problem. We propose a single dynamic model valid
	for all situations, unifying nonholonomic and holonomic parts of
	the motion, as well as a carefully designed unified objective function.
	The choice between holonomic and nonholonomic behavior appears, along
	with the optimal path, as result of the optimization by powerful
	numerical techniques. The proposed model and objective function are
	successfully tested in six different locomotion scenarios. The resulting
	paths are implemented on the HRP2 robot in the simulation environment
	OpenHRP as well as in the experiment on the real robot.},
  doi = {10.1109/ICHR.2008.4756020},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{Monje2009,
  author = {Monje, C. A. and Pierro, P. and Balaguer, C. },
  title = {Pose control of the humanoid robot RH-1 for mobile manipulation},
  booktitle = {Proc. International Conference on Advanced Robotics ICAR 2009},
  year = {2009},
  pages = {1--6},
  abstract = {This paper presents an advanced control architecture for the full-scale
	humanoid robot RH-1. The pose control of the prototype is aimed in
	order to achieve mobile manipulation in collaborative working environments
	where humans and robots must share the same tasks and space. The
	kinematic model and a simplified dynamic model of the robot are given.
	All the models and algorithms are verified by several simulations
	and from experimental results.},
  keywords = {humanoid robots, manipulator kinematics, mobile robots, position control,
	advanced control architecture, collaborative working environments,
	full-scale humanoid robot RH-1, mobile manipulation, pose control,
	robot kinematic model},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@ARTICLE{Montague96,
  author = {Montague, P.R. and Dayan, P. and Sejnowski, T.K.},
  title = {A framework for mesencephalic dopamine systems based on predictive
	{Hebbian} learning},
  journal = {Journal of Neuroscience},
  year = {1996},
  volume = {16},
  pages = {1936-47},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@PHDTHESIS{moravec_thesis,
  author = {Hans Moravec},
  title = {Obstacle Avoidance and Navigation in the Real World by a Seeing Robot
	Rover},
  school = {Stanford University},
  year = {1980},
  month = {March},
  abstract = {The Stanford AI lab cart is a card-table sized mobile robot controlled
	remotely through a radio link, and equipped with a TV camera and
	transmitter. A computer has been programmed to drive the cart through
	cluttered indoor and outdoor spaces, gaining its knowledge about
	the world entirely from images broadcast by the onboard TV system.
	
	
	The cart deduces the three dimensional location of objects around
	it, and its own motion among them, by noting their apparent relative
	shifts in successive images obtained from the moving TV camera. It
	maintains a model of the location of the ground, and registers objects
	it has seen as potential obstacles if they are sufficiently above
	the surface, but not too high. It plans a path to a user-specified
	destination which avoids these obstructions. This plan is changed
	as the moving cart perceives new obstacles on its journey.
	
	
	The system is moderately reliable, but very slow. The cart moves about
	one meter every ten to fifteen minutes, in lurches. After rolling
	a meter, it stops, takes some pictures and thinks about them for
	a long time. Then it plans a new path, and executes a little of it,
	and pauses again.
	
	
	The program has successfully driven the cart through several 20 meter
	indoor courses (each taking about five hours) complex enough to necessitate
	three or four avoiding swerves. A less sucessful outdoor run, in
	which the cart swerved around two obstacles but collided with a third,
	was also done. Harsh lighting (very bright surfaces next to very
	dark shadows) resulting in poor pictures, and movement of shadows
	during the cart's creeping progress, were major reasons for the poorer
	outdoor performance. These obstacle runs have been filmed (minus
	the very dull pauses).},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@ARTICLE{Moriarty97,
  author = {David E. Moriarty and Risto Miikkulainen},
  title = {Forming Neural Networks Through Efficient and Adaptive Coevolution},
  journal = {Evolutionary Computation},
  year = {1997},
  volume = {5},
  pages = {373-399},
  number = {4},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/moriarty98forming.html}
}

@ARTICLE{Moriarty96,
  author = {David E. Moriarty and Risto Miikkulainen},
  title = {Efficient Reinforcement Learning through Symbolic Evolution},
  journal = mlj,
  year = {1996},
  volume = {22},
  pages = {11-32},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Moriarty99,
  author = {David E. Moriarty and Alan C. Schultz and John J. Grefenstette},
  title = {{Evolutionary Algorithms for Reinforcement Learning}},
  journal = jair,
  year = {1999},
  volume = {11},
  pages = {199--229},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/moriarty99evolutionary.html}
}

@INPROCEEDINGS{,
  author = {Morisawa, M. and Harada, K. and Kajita, S. and Kaneko, K. and Sola,
	J. and Yoshida, E. and Mansard, N. and Yokoi, K. and Laumond, J.-P.
	},
  title = {Reactive stepping to prevent falling for humanoids},
  booktitle = {Proc. 9th IEEE-RAS Int. Conf. Humanoid Robots Humanoids 2009},
  year = {2009},
  pages = {528--534},
  abstract = {This paper proposes a reactive motion controller for a humanoid robot
	to maintain balance against a large disturbance, by relatively stepping.
	A reactive step is performed by the robot, so that it reduces the
	disturbance force. Several problems are addressed: first the motion
	is designed to ensure the respect of stepping constraints such as
	a dynamical stability, motion feasibility of the swing leg and so
	on. Moreover the stepping has to be generated in real-time and to
	be updated as quick as possible after the disturbance. To overcome
	these problems, we extend simultaneous the center of gravity (COG)
	and the zero-moment point (ZMP) planning based on a generic analytical
	solution of the linear inverted pendulum [8]. The ZMP fluctuation
	and the modification of foot placement are determined by numerical
	optimization according to the position and velocity error of the
	COG due to the disturbance. All these computations are performed
	at low cost. The proposed method is validated through several simulations.},
  doi = {10.1109/ICHR.2009.5379522},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Morisawa, M. and Kanehiro, F. and Kaneko, K. and Mansard, N. and
	Sola, J. and Yoshida, E. and Yokoi, K. and Laumond, J. },
  title = {Combining suppression of the disturbance and reactive stepping for
	recovering balance},
  booktitle = {Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf},
  year = {2010},
  pages = {3150--3156},
  abstract = {This paper proposes a new framework to recover balance against external
	forces by combining disturbance suppression and reactive stepping.
	In the view point of the feedback control, a reactive step can help
	to diminish the disturbance caused by an external force that should
	be compensated to maintain balance. In other words, if the adequate
	step is performed, the feedback controller does not have to compensate
	all of the external force by itself. Under this concept, we propose
	an original solution to distribute the compensation between a feedback
	controller and a reactive step, according to the period of support
	phase and a disturbance characteristic. We first clearly distinguish
	between the role of the disturbance suppression and the reactive
	stepping. Then, based on this distinction, the small disturbance
	of external force or happening late during the single-support phase,
	is mainly suppressed by state feedback. The large disturbance which
	is out of capability by feedback controller and at the beginning
	of the single-support phase, is absorbed by modifying reactively
	the next steps. The proposed method is validated through experimental
	results with the HRP-2 humanoid robot.},
  doi = {10.1109/IROS.2010.5651595},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{Morita1998,
  author = {Morita, T. and Shibuya, K. and Sugano, S. },
  title = {Design and control of mobile manipulation system for human symbiotic
	humanoid: Hadaly-2},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1998},
  volume = {2},
  pages = {1315--1320},
  month = may # { 16--20,},
  doi = {10.1109/ROBOT.1998.677287},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Morris2005,
  author = {Morris, A. and Silver, D. and Ferguson, D. and Thayer, S. },
  title = {Towards Topological Exploration of Abandoned Mines},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2005},
  year = {2005},
  pages = {2117--2123},
  abstract = {The need for reliable maps of subterranean spaces too hazardous for
	humans to occupy has motivated the use of robotic technology as mapping
	tools. As such, we present a systemic approach to autonomous topological
	exploration of a mine environment to facilitate the process of mapping.
	This approach focuses upon the interaction of three high-level processes:
	topological planning, intersection identification and local navigation.
	Topological planning tasks the robot to investigate stretches of
	mine corridor for the purpose of collecting data. Intersection identification
	converts sensory input into topological components used to construct
	an online topological map and provide the robot with a global sense
	of position. Local navigation transforms topological exploration
	objectives into robot actuation enabling traversal of mine corridors.
	These processes are described in detail with results presented from
	experiments conducted at a research coal mine near Pittsburgh, PA.},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{morris_etal_05,
  author = {Morris, A. and Silver, D. and Ferguson, D. and Thayer, S.},
  title = {Towards topological exploration of abandoned mines},
  booktitle = {Proc. of the IEEE International Conference on Robotics},
  year = {2005},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Muico2009,
  author = {Muico, Uldarico and Lee, Yongjoon and Popovi\'{c}, Jovan and Popovi\'{c},
	Zoran},
  title = {Contact-aware nonlinear control of dynamic characters},
  booktitle = {SIGGRAPH '09: ACM SIGGRAPH 2009 papers},
  year = {2009},
  pages = {1--9},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {Dynamically simulated characters are difficult to control because
	they are underactuated---they have no direct control over their global
	position and orientation. In order to succeed, control policies must
	look ahead to determine stabilizing actions, but such planning is
	complicated by frequent ground contacts that produce a discontinuous
	search space. This paper introduces a locomotion system that generates
	high-quality animation of agile movements using nonlinear controllers
	that plan through such contact changes. We demonstrate the general
	applicability of this approach by emulating walking and running motions
	in rigid-body simulations. Then we consolidate these controllers
	under a higher-level planner that interactively controls the character's
	direction.},
  doi = {http://doi.acm.org/10.1145/1576246.1531387},
  isbn = {978-1-60558-726-4},
  location = {New Orleans, Louisiana},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@ARTICLE{Murphey2008,
  author = {Murphey, T. D.},
  title = {Brief paper: On multiple model control for multiple contact systems},
  journal = {Automatica},
  year = {2008},
  volume = {44},
  pages = {451--458},
  number = {2},
  abstract = {Multiple contact interaction is common in many robotic applications.
	These include grasping, wheeled vehicles, and distributed manipulation.
	All of these applications are capable of experiencing stick/slip
	phenomena at the contact interfaces. In particular, when there are
	more kinematic constraints then there are degrees of freedom, some
	contact interfaces must slip. Moreover, this stick/slip behavior
	is difficult to predict a priori due to strong sensitivities with
	respect to friction modeling and normal forces. Motivated by a simple
	multi-point manipulation device, we discuss how these effects can
	be accounted for and mitigated using tools from hybrid systems theory
	and multiple model adaptive control both for analysis and control
	design. In the context of the multi-point manipulation example, we
	show how multiple model supervisor-based adaptive control can provide
	stabilizing controllers for such systems. Our results are validated
	with simulations that both illustrate the need for these techniques
	and show their effectiveness.},
  address = {Tarrytown, NY, USA},
  doi = {http://dx.doi.org/10.1016/j.automatica.2007.05.018},
  issn = {0005-1098},
  owner = {Mihail},
  publisher = {Pergamon Press, Inc.},
  timestamp = {2010.02.05}
}

@ARTICLE{Murphey2007,
  author = {Murphey, Todd D.},
  title = {Kinematic reductions for uncertain mechanical contact},
  journal = {Robotica},
  year = {2007},
  volume = {25},
  pages = {751--764},
  number = {6},
  abstract = {This paper describes the methods applicable to the modeling and control
	of mechanical contact, particularly those systems that experience
	uncertain stick/slip phenomena. Geometric kinematic reductions are
	used to reduce a system's description from a second-order dynamic
	model with frictional disturbances coming from a function space to
	a first-order model with frictional disturbances coming from a space
	of finite automata over a finite set. As a result, modeling for purposes
	of control is made more straight-forward by getting rid of some dependencies
	on low-level mechanics (in particular, the details of friction modeling).
	Moreover, the online estimation of the uncertain, discrete-valued
	variables has reduced sensing requirements. The primary contributions
	of this paper are the introduction of a simplifying representation
	of friction and formal tests for kinematic reducibility. Results
	are illustrated using a slip-steered vehicle model and an actuator
	array model.},
  address = {New York, NY, USA},
  doi = {http://dx.doi.org/10.1017/S0263574707003827},
  issn = {0263-5747},
  owner = {Mihail},
  publisher = {Cambridge University Press},
  timestamp = {2010.02.05}
}

@ARTICLE{murray_etal_jsmc92,
  author = {Murray, R. M. and Deno, D. C. and Pister, K. S. J. and Sastry, S.
	S. },
  title = {Control primitives for robot systems},
  journal = IEEE_J_SMC,
  year = {1992},
  volume = {22},
  pages = {183--193},
  number = {1},
  abstract = {A set of primitive operations that forms the core of a robot system
	description and control language is presented. The actions of the
	individual primitives are derived from the mathematical structure
	of the equations of motion for constrained mechanical systems. The
	recursive nature of the primitives allows composite robots to be
	constructed from more elementary daughter robots. A few pertinent
	results of classical mechanics are reviewed, the functionality of
	the primitive operation is described, and several different hierarchical
	strategies for the description and control of a two-fingered hand
	holding a box are presented},
  doi = {10.1109/21.141324},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@ARTICLE{Murray1993,
  author = {Murray, R. M. and Sastry, S. S.},
  title = {Nonholonomic motion planning: steering using sinusoids},
  journal = {IEEE Transactions on Automatic Control},
  year = {1993},
  volume = {38},
  pages = {700--716},
  number = {5},
  month = may,
  doi = {10.1109/9.277235},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{murray_sastry_cdc91,
  author = {Murray, R. M. and Sastry, S. S. },
  title = {Steering nonholonomic systems in chained form},
  booktitle = {Proc. 30th IEEE Conf. Decision and Control},
  year = {1991},
  pages = {1121--1126},
  abstract = {The authors introduce a nilpotent form, called a chained form, for
	nonholonomic control systems. For the case of a nonholonomic system
	with two inputs, they give constructive conditions for the existence
	of a feedback transformation which puts the system into chained form,
	and show how to steer the system between arbitrary states. Examples
	are presented for steering a car and a car with a trailer attached:
	other examples can be found in the areas of space robotics and multifingered
	robot hands. The present results also have applications in the area
	of nilpotentization of distributions of vector fields on <e1>R</e1><sup>n
	</sup>},
  doi = {10.1109/CDC.1991.261508},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@ARTICLE{Murrieta-Cid2005,
  author = {Murrieta-Cid, Rafael and Tovar, Benjam\'{\i}n and Hutchinson, Seth},
  title = {A Sampling-Based Motion Planning Approach to Maintain Visibility
	of Unpredictable Targets},
  journal = {Auton. Robots},
  year = {2005},
  volume = {19},
  pages = {285--300},
  number = {3},
  abstract = {This paper deals with the surveillance problem of computing the motions
	of one or more robot observers in order to maintain visibility of
	one or several moving targets. The targets are assumed to move unpredictably,
	and the distribution of obstacles in the workspace is assumed to
	be known in advance. Our algorithm computes a motion strategy by
	maximizing the shortest distance to escape--the shortest distance
	the target must move to escape an observer's visibility region. Since
	this optimization problem is intractable, we use randomized methods
	to generate candidate surveillance paths for the observers. We have
	implemented our algorithms, and we provide experimental results using
	real mobile robots for the single target case, and simulation results
	for the case of two targets-two observers.},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1007/s10514-005-4052-0},
  issn = {0929-5593},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.06.29}
}

@BOOK{Narendra,
  title = {Learning Automata},
  publisher = {Prentice Hall},
  year = {1989},
  author = {Narendra, Kumpati S. and Thathachar, Mandayam A.L.},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Nassal1994,
  author = {Nassal, U. M. },
  title = {An approach to motion planning for mobile manipulation},
  booktitle = {Proc. IEEE/RSJ/GI International Conference on Intelligent Robots
	and Systems '94. 'Advanced Robotic Systems and the Real World' IROS
	'94},
  year = {1994},
  volume = {2},
  pages = {831--838 vol.2},
  abstract = {Increasing the flexibility of robot systems has been one of the main
	objectives of robotics research in recent years, There are various
	approaches to achieve this: increasing fault-tolerance on different
	levels, the development of sophisticated sensors, grippers and manipulators,
	and the use of learning techniques. But the field of operation of
	such smart systems is still limited to a rather small area. Mobile
	manipulation is another facet of increasing the flexibility of a
	robot system. By exploiting the mobility of a platform, the dexterous
	workspace of manipulators can be considerably increased. One main
	research topic on mobile manipulation is the decomposition of the
	motion of the tool-center-point into manipulator motion and platform
	motion. In this paper a new online approach to this decomposition
	is presented which allows the consideration of complex obstacles
	and multiple manipulators mounted on the platform. Simulation studies
	verify the suitability of the approach. Some of the realized algorithms
	have been applied to a real mobile two-arm system},
  doi = {10.1109/IROS.1994.407543},
  keywords = {manipulators, motion control, path planning, dexterous workspace,
	mobile manipulation, mobile two-arm system, motion planning, multiple
	manipulators, platform mobility, robot systems, tool-center-point
	motion},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Nassal1996,
  author = {Nassal, U. M. and Junge, R. },
  title = {Fuzzy control for mobile manipulation},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1996},
  volume = {3},
  pages = {2264--2269 vol.3},
  abstract = {Increasing the flexibility of robot systems has been one of the main
	objectives of robotics research in recent years. There are various
	approaches to achieve this: increasing fault-tolerance, the development
	of new actuators and sensors and the use of learning techniques.
	But the field of operation of such smart systems is still limited
	to a rather small area. Mobile manipulation is another facet of increasing
	the flexibility of a robot system. By exploiting the mobility of
	a platform, the dextrous workspace of manipulators can be considerably
	increased. One main research topic on mobile manipulation is the
	decomposition of the motion of the tool-centre-point into manipulator
	motion and platform motion. In this paper a new online approach to
	this decomposition is presented which allows the consideration of
	complex obstacles and multiple manipulators mounted on the platform.
	A focus of this paper is the presentation of a fuzzy-controller that
	enables the robot to perform manipulation and locomotion in an integrated
	manner},
  doi = {10.1109/ROBOT.1996.506501},
  keywords = {fuzzy control, manipulator dynamics, mobile robots, motion control,
	coordinated motion control, dextrous workspace, flexibility, fuzzy
	control, locomotion, mobile manipulation, mobile platform, multiple
	manipulators},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@ARTICLE{natarajan_88,
  author = {Natarajan, B. K.},
  title = {The complexity of fine motion planning},
  journal = {International Journal of Robotics Research},
  year = {1988},
  volume = {7},
  pages = {36-42},
  number = {2},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Neapolitan,
  title = {Probabilistic Reasoning in Expert Systems: Theory and Algorithms},
  author = {Neapolitan, Richard E.},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Nebot2004,
  author = {Nebot, P. and Saintluc, G. and Berton, B. and Cervera, E. },
  title = {Agent-based software integration for a mobile manipulator},
  booktitle = {Proc. IEEE International Conference on Systems, Man and Cybernetics},
  year = {2004},
  volume = {7},
  pages = {6167--6172 vol.7},
  abstract = {Mobile manipulation involves mobility and manipulation. For the design
	of a suitable framework for mobile manipulation it is essential to
	consider the characteristics of the two systems that constitute the
	mobile manipulator, the mobile base and the manipulator. The framework
	should maintain the inherent characteristics for each of the two
	sub-systems, while at the same time provide a basis for cooperation.
	In this article, we present a framework suitable for the operation
	of a mobile manipulator. Such framework is an extension of the Acromovi
	agent-based architecture. In this framework, the characteristics
	of each sub-system are preserved, whereas the cooperation is provided
	by the multi-agent system. Also, the framework lets the access to
	the accessories mounted on each sub-system, thus it is possible to
	access to the stereo of the arm or to the sonars of the base, making
	possible the coordination of all the elements to perform a certain
	task.},
  doi = {10.1109/ICSMC.2004.1401367},
  issn = {1062-922X},
  keywords = {control engineering computing, integrated software, manipulators,
	mobile robots, multi-agent systems, software agents, agent based
	software integration, mobile manipulation, mobile manipulator, multi-agent
	system},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Neufeld2008,
  author = {Neufeld, James and Sokolsky, Michael and Roberts, Jason and Milstein,
	Adam and Walsh, Stephen and Bowling, Michael},
  title = {Autonomous geocaching: navigation and goal finding in outdoor domains},
  booktitle = {AAMAS '08: Proceedings of the 7th international joint conference
	on Autonomous agents and multiagent systems},
  year = {2008},
  pages = {47--54},
  address = {Richland, SC},
  publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
  isbn = {978-0-9817381-0-9},
  location = {Estoril, Portugal},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{NgUAI00,
  author = {Andrew Y. Ng and Michael I. Jordan},
  title = {{PEGASUS}: A policy search method for large {MDP}s and {POMDP}s},
  booktitle = uai00,
  year = {2000},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{PeshkinUAI02,
  author = {Brenda Ng and Leonid Pesha and Avi Pfeffer},
  title = {Factored Particles for Scalable Monitoring},
  booktitle = uai02,
  year = {2002},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Nguyen2008a,
  author = {Hai Nguyen and Jain, A. and Anderson, C. and Kemp, C. C. },
  title = {A clickable world: Behavior selection through pointing and context
	for mobile manipulation},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2008},
  year = {2008},
  pages = {787--793},
  month = sep # { 22--26,},
  doi = {10.1109/IROS.2008.4651216},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Nguyen2008,
  author = {Nguyen, H. and Kemp, C. C. },
  title = {Bio-inspired assistive robotics: Service dogs as a model for human-robot
	interaction and mobile manipulation},
  booktitle = {Proc. 2nd IEEE RAS. EMBS International Conference on Biomedical Robotics
	and Biomechatronics BioRob 2008},
  year = {2008},
  pages = {542--549},
  month = oct # { 19--22,},
  doi = {10.1109/BIOROB.2008.4762910},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@BOOK{niederreiter_92,
  title = {Quasi-Monte Carlo Methods},
  publisher = {SIAM},
  year = {1992},
  author = {Harald Niederreiter},
  owner = {mihail},
  timestamp = {2012.01.15}
}

@BOOK{Niemi82,
  title = {Central limit theorems for {Markov} random walks},
  publisher = {Societas Scientiarum Fennica},
  year = {1982},
  author = {S. Niemi and E. Nummelin},
  address = {Helsinki},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Nigam00,
  author = {Kamal Nigam and Andrew K. Mccallum and Sebastian Thrun and Tom Mitchell},
  title = {Text Classification from Labeled and Unlabeled Documents using {EM}},
  journal = mlj,
  year = {2000},
  volume = {39},
  pages = {103--134},
  number = {2/3},
  __markedentry = {[mihail]},
  owner = {mihail},
  publisher = {Kluwer Academic Publishers, Boston},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/nigam99text.html}
}

@INPROCEEDINGS{Nishihama2003,
  author = {Nishihama, Y. and Inoue, K. and Arai, T. and Mae, Y. },
  title = {Mobile manipulation of humanoid robots -control method for accurate
	manipulation},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems (IROS 2003)},
  year = {2003},
  volume = {2},
  pages = {1914--1919 vol.2},
  abstract = {A control method for humanoid robots of mobile manipulation is proposed:
	this method allows accurate manipulation using hands, even when the
	robots move around. A robot controls its body pose and steps so that
	manipulabilities of both arms and robot stability can increase, coordinating
	with the motion of both hands for performing objective tasks. Because
	of the vibration caused by the impact of foot landing and the slip
	of the feet, the accuracy of the hand positions and robot stability
	decrease. For this problem, the robot measures real hand positions
	and body orientation with its camera and gyroscope. Then the hand
	positions errors are transformed to correcting joint angles of the
	arms using arm Jacobian matrices. Adding the calculated joint angles
	to the desired joint angles of the arms, the arms can compensate
	the hand positions. New desired joint angles of the legs are calculated
	by inverse kinematics from real foot positions and desired shoulder
	position. Adding the correcting joint angles to the desired joint
	angles of the legs, the legs can compensate the shoulder position,
	thus increasing robot stability. The effectiveness of the proposed
	method is ascertained by simulations.},
  keywords = {Jacobian matrices, manipulators, mobile robots, motion compensation,
	motion control, robot dynamics, robot vision, stability, Jacobian
	matrices, camera, foot landing, gyroscope, hand positions errors,
	humanoid robots, inverse kinematics, joint angles, mobile manipulation,
	robot controls, robot stability, vibration},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@ARTICLE{Ogren2005,
  author = {Ogren, P.  and Leonard, N. E. },
  title = {A convergent dynamic window approach to obstacle avoidance},
  journal = IEEE_J_RO,
  year = {2005},
  volume = {21},
  pages = {188--195},
  number = {2},
  __markedentry = {[mihail:]},
  abstract = {The dynamic window approach (DWA) is a well-known navigation scheme
	developed by Fox et al. and extended by Brock and Khatib. It is safe
	by construction, and has been shown to perform very efficiently in
	experimental setups. However, one can construct examples where the
	proposed scheme fails to attain the goal configuration. What has
	been lacking is a theoretical treatment of the algorithm's convergence
	properties. Here we present such a treatment by merging the ideas
	of the DWA with the convergent, but less performance-oriented, scheme
	suggested by <span class='snippet'>Rimon</span> and <span class='snippet'>Koditschek</span>.
	Viewing the DWA as a model predictive control (MPC) method and using
	the control Lyapunov function (CLF) framework of <span class='snippet'>Rimon</span>
	and <span class='snippet'>Koditschek</span>, we draw inspiration
	from an MPC/CLF framework put forth by Primbs to propose a version
	of the DWA that is tractable and convergent.},
  doi = {10.1109/TRO.2004.838008},
  owner = {mihail},
  timestamp = {2012.03.12}
}

@INPROCEEDINGS{Ogren2000,
  author = {Ogren, P. and Petersson, L. and Egerstedt, M. and Hu, X. },
  title = {Reactive mobile manipulation using dynamic trajectory tracking: design
	and implementation},
  booktitle = {Proc. 39th IEEE Conference on Decision and Control},
  year = {2000},
  volume = {3},
  pages = {3001--3006},
  month = dec # { 12--15,},
  doi = {10.1109/CDC.2000.914278},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@ARTICLE{oh89,
  author = {M. Oh and J. Berger},
  title = {Adaptive importance sampling in {M}onte {C}arlo integration},
  journal = {Journal of Statistical Computing and Simulation.},
  year = {1992},
  volume = {41},
  pages = {143--168},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Ollis1997,
  author = {Ollis, M. and Stentz, A. },
  title = {Vision-based perception for an automated harvester},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS '97},
  year = {1997},
  volume = {3},
  pages = {1838--1844},
  month = sep # { 7--11,},
  doi = {10.1109/IROS.1997.656612},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Ollis1996,
  author = {Ollis, M. and Stentz, A. },
  title = {First results in vision-based crop line tracking},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1996},
  volume = {1},
  pages = {951--956},
  month = apr # { 22--28,},
  doi = {10.1109/ROBOT.1996.503895},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INCOLLECTION{OpperHuass97,
  author = {Manfred Opper and David Haussler},
  title = {Worst case prediction over sequences in under log loss},
  booktitle = {The Mathematics of Information Coding, Extraction, and Distribution},
  publisher = {Springer Verlag},
  year = {1997},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Glynn00,
  author = {Dirk Ormoneit and Peter W. Glynn},
  title = {Kernel-based reinforcement learning in average-cost problems: An
	application to optimal portfolio choice},
  booktitle = nips,
  year = {2000},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@PHDTHESIS{OrtizPhD,
  author = {Luis Ortiz},
  title = {Selecting approximately-optimal actions in complex structural domains},
  school = {Brown University},
  year = {2002},
  address = {Providence, RI},
  __markedentry = {[mihail]},
  optnote = {in preparation},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Ortiz00,
  author = {Luis Ortiz and Leslie P. Kaelbling},
  title = {Adaptive importance sampling for estimation in structured domains},
  booktitle = uai00,
  year = {2000},
  pages = {446--454},
  address = {San Francisco, CA},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Osborne,
  title = {A Course in Game Theory},
  publisher = {The {MIT} Press},
  year = {1994},
  author = {Osborne, Martin J. and Rubinstein, Ariel},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Ostrowski2000,
  author = {Ostrowski, J.},
  title = {Steering for a class of dynamic nonholonomic systems},
  journal = {IEEE Transactions on Automatic Control},
  year = {2000},
  volume = {45},
  pages = {1492--1498},
  number = {8},
  month = aug,
  doi = {10.1109/9.871757},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Owada2008,
  author = {Owada, Shigeru and Fujiki, Jun},
  title = {DynaFusion: a modeling system for interactive impossible objects},
  booktitle = {NPAR '08: Proceedings of the 6th international symposium on Non-photorealistic
	animation and rendering},
  year = {2008},
  pages = {65--68},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {We describe DynaFusion, a modeling system for interactive impossible
	objects. Impossible objects are defined as multiple 3D polygonal
	meshes with edge visibility information and a set of constraints
	that define pointwise relationships between the meshes. A user can
	easily create such models with our modeling tool. The back-end of
	our system is a constraint solver that seamlessly combines multiple
	meshes in a projected 2D domain with 3D line orientations and that
	maintains coherence for each successive viewpoint, thereby allowing
	the user to rotate the impossible object without losing visual continuity
	of the edges. We believe that our system will stimulate the creation
	of innovative artworks.},
  doi = {http://doi.acm.org/10.1145/1377980.1377994},
  isbn = {978-1-60558-150-7},
  location = {Annecy, France},
  owner = {Mihail},
  timestamp = {2010.03.03}
}

@ARTICLE{hart_nilsson_raphael_68,
  author = {P. Hart, N. Nilsson and B. Raphael},
  title = {A Formal Basis for the Heuristic Determination of Minimum Cost Paths},
  journal = {IEEE Transactions on Systems Science and Cybernetics},
  year = {1968},
  volume = {4},
  pages = {100--107},
  number = {2},
  month = {July},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{pai_reissell_98,
  author = {Pai, D.K. and Reissell, L.-M.},
  title = {Multiresolution rough terrain motion planning},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {1998},
  volume = {14},
  pages = {19-33},
  number = {1}
}

@INPROCEEDINGS{Pallottino2002,
  author = {Pallottino, L. and Bicchi, A. and Pancanti, S. },
  title = {Safety of a decentralized scheme for free-flight ATMS using mixed
	integer linear programming},
  booktitle = {Proc. American Control Conf the 2002},
  year = {2002},
  volume = {1},
  pages = {742--747},
  abstract = {In this paper we consider policies for free-flight management of air
	traffic. We consider instantaneous and bounded heading angle deviation
	as conflict avoidance maneuvers. The corresponding model, resulting
	in a mixed integer linear programming (MILP) problem allow to solve
	both conflict detection and conflict resolution problems. The developed
	algorithm proved successful in a centralized implementation with
	a large number of cooperating aircraft. However, the application
	of such algorithm to a free flight environment, where cooperation
	can only be expected from neighboring aircraft, poses many challenges.
	We consider a model of the decentralized conflict resolution strategy
	that is based on a hybrid system, and sufficient conditions under
	which a 3-aircraft free flight MILP-based scheme guarantees safety
	of flight are provided.},
  doi = {10.1109/ACC.2002.1024902},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{pancanti_pallottino_bicchi_04,
  author = {Pancanti, S. and Pallottino, L. and Bicchi, A.},
  title = {Motion planning through symbols and lattices},
  booktitle = {Proc. of the Int. Conf. on Robotics and Automation},
  year = {2004},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Pancanti2004,
  author = {Pancanti, S. and Pallottino, L. and Salvadorini, D. and Bicchi, A.
	},
  title = {Motion planning through symbols and lattices},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA '04},
  year = {2004},
  volume = {4},
  pages = {3914--3919},
  abstract = {In this paper we propose a new approach to motion planning, based
	on the introduction of a lattice structure in the workspace of the
	robot, leading to efficient computations of plans for rather complex
	vehicles, and allowing for the implementation of optimization procedures
	in a rather straightforward way. The basic idea is the purposeful
	restriction of the set of possible input functions to the vehicle
	to a finite set of symbols, or control quanta, which, under suitable
	conditions, generate a regular lattice of reachable points. Once
	the lattice is generated and a convenient description computed, standard
	techniques in integer linear programming can be used to find a plan
	very efficiently. We also provide a correct and complete algorithm
	to the problem of finding an optimized plan (with respect e.g. to
	length minimization) consisting in a sequence of graph searches.},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Pangaro2002,
  author = {Pangaro, Gian and Maynes-Aminzade, Dan and Ishii, Hiroshi},
  title = {The actuated workbench: computer-controlled actuation in tabletop
	tangible interfaces},
  booktitle = {UIST '02: Proceedings of the 15th annual ACM symposium on User interface
	software and technology},
  year = {2002},
  pages = {181--190},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {The Actuated Workbench is a device that uses magnetic forces to move
	objects on a table in two dimensions. It is intended for use with
	existing tabletop tangible interfaces, providing an additional feedback
	loop for computer output, and helping to resolve inconsistencies
	that otherwise arise from the computer's inability to move objects
	on the table. We describe the Actuated Workbench in detail as an
	enabling technology, and then propose several applications in which
	this technology could be useful.},
  doi = {http://doi.acm.org/10.1145/571985.572011},
  isbn = {1-58113-488-6},
  location = {Paris, France},
  owner = {Mihail},
  timestamp = {2010.02.05}
}

@ARTICLE{Papadimitriou87,
  author = {Christos H. Papadimitriou and John N. Tsitsiklis},
  title = {The Complexity of {Markov} Decision Processes},
  journal = {Mathematics of Operations Research},
  year = {1987},
  volume = {12},
  pages = {441-450},
  number = {3},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{,
  author = {Pastor, P. and Kalakrishnan, M. and Chitta, S. and Theodorou, E.
	and Schaal, S. },
  title = {Skill learning and task outcome prediction for manipulation},
  booktitle = {Proc. IEEE Int Robotics and Automation (ICRA) Conf},
  year = {2011},
  pages = {3828--3834},
  abstract = {Learning complex motor skills for real world tasks is a hard problem
	in robotic manipulation that often requires painstaking manual tuning
	and design by a human expert. In this work, we present a Reinforcement
	Learning based approach to acquiring new motor skills from demonstration.
	Our approach allows the robot to learn fine manipulation skills and
	significantly improve its success rate and skill level starting from
	a possibly coarse demonstration. Our approach aims to incorporate
	task domain knowledge, where appropriate, by working in a space consistent
	with the constraints of a specific task. In addition, we also present
	an approach to using sensor feedback to learn a predictive model
	of the task outcome. This allows our system to learn the proprioceptive
	sensor feedback needed to monitor subsequent executions of the task
	online and abort execution in the event of predicted failure. We
	illustrate our approach using two example tasks executed with the
	PR2 dual-arm robot: a straight and accurate pool stroke and a box
	flipping task using two chopsticks as tools.},
  doi = {10.1109/ICRA.2011.5980200},
  owner = {mihail},
  timestamp = {2012.01.03}
}

@INPROCEEDINGS{,
  author = {Pastor, Peter and Righetti, Ludovic and Kalakrishnan, Mrinal and
	Schaal, Stefan},
  title = {Online movement adaptation based on previous sensor experiences},
  booktitle = {Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf},
  year = {2011},
  pages = {365--371},
  abstract = {Personal robots can only become widespread if they are capable of
	safely operating among humans. In uncertain and highly dynamic environments
	such as human households, robots need to be able to instantly adapt
	their behavior to unforseen events. In this paper, we propose a general
	framework to achieve very contact-reactive motions for robotic grasping
	and manipulation. Associating stereotypical movements to particular
	tasks enables our system to use previous sensor experiences as a
	predictive model for subsequent task executions. We use dynamical
	systems, named Dynamic Movement Primitives (DMPs), to learn goal-directed
	behaviors from demonstration. We exploit their dynamic properties
	by coupling them with the measured and predicted sensor traces. This
	feedback loop allows for online adaptation of the movement plan.
	Our system can create a rich set of possible motions that account
	for external perturbations and perception uncertainty to generate
	truly robust behaviors. As an example, we present an application
	to grasping with the WAM robot arm.},
  doi = {10.1109/IROS.2011.6095059},
  owner = {mihail},
  timestamp = {2012.01.03}
}

@ARTICLE{Patsko2009,
  author = {Patsko, Valerii S. and Turova, Varvara L.},
  title = {From Dubins\&\#x2019; car to Reeds and Shepp\&\#x2019;s mobile robot},
  journal = {Comput. Vis. Sci.},
  year = {2009},
  volume = {12},
  pages = {345--364},
  number = {7},
  abstract = {In the paper, a control system with intermediate dynamics between
	Dubins car and Reeds and Shepps mobile robot is investigated. Time-limited
	reachable sets and reachable sets at given time are computed. Families
	of semipermeable curves that are useful for the detection of jumps
	of the value function of time-optimal control problem are constructed.},
  address = {Berlin, Heidelberg},
  doi = {http://dx.doi.org/10.1007/s00791-008-0109-x},
  issn = {1432-9360},
  owner = {Mihail},
  publisher = {Springer-Verlag},
  timestamp = {2010.01.20}
}

@BOOK{pearl_84,
  title = {Heuristics},
  publisher = {Addison Wesley},
  year = {1984},
  author = {J. Pearl},
  address = {Boston, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Peng2005,
  author = {Peng, Jufeng and Akella, Srinivas},
  title = {Coordinating Multiple Robots with Kinodynamic Constraints Along Specified
	Paths},
  journal = {Int. J. Rob. Res.},
  year = {2005},
  volume = {24},
  pages = {295--310},
  number = {4},
  abstract = {This paper focuses on the collision-free coordination of multiple
	robots with kinodynamic constraints along specified paths. We present
	an approach to generate continuous velocity profiles for multiple
	robots; these velocity profiles satisfy the dynamics constraints,
	avoid collisions, and minimize the completion time. The approach,
	which combines techniques from optimal control and mathematical programming,
	consists of identifying collision segments along each robot's path,
	and then optimizing the robots' velocities along the collision and
	collision-free segments. First, for each path segment for each robot,
	the minimum and maximum possible traversal times that satisfy the
	dynamics constraints are computed by solving the corresponding two-point
	boundary value problems. The collision avoidance constraints for
	pairs of robots can then be combined to formulate a mixed integer
	nonlinear programming (MINLP) problem. Since this nonconvex MINLP
	model is difficult to solve, we describe two related mixed integer
	linear programming (MILP) formulations, which provide schedules that
	give lower and upper bounds on the optimum; the upper bound schedule
	is designed to provide continuous velocity trajectories that are
	feasible. The approach is illustrated with coordination of multiple
	robots, modeled as double integrators subject to velocity and acceleration
	constraints. An application to coordination of nonholonomic car-like
	robots is described, along with implementation results for 12 robots.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364905051974},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.01.20}
}

@ARTICLE{pereira_campos_kumar_04,
  author = {Guilherme A. S. Pereira and Mario F. M. Campos and Vijay Kumar},
  title = {Decentralized Algorithms for Multi-Robot Manipulation via Caging},
  journal = {International Journal of Robotics Research},
  year = {2004},
  volume = {23},
  pages = {783-795},
  number = {7-8},
  owner = {Mihail},
  timestamp = {2010.03.09}
}

@INPROCEEDINGS{Perez-Bergquist2005,
  author = {Perez-Bergquist, A. S. and Stentz, A. },
  title = {K2: an efficient approximation algorithm for globally and locally
	multiply-constrained planning problems},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems (IROS 2005)},
  year = {2005},
  pages = {2047--2053},
  month = aug # { 2--6,},
  doi = {10.1109/IROS.2005.1545173},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@BOOKLET{PeshkinBooklet,
  title = {Reinforcement Learning by Policy Search},
  author = {Leonid Peshkin},
  howpublished = {MIT AI Lab Technical Report 2003-003},
  address = {Cambridge, MA 02139},
  __markedentry = {[mihail]},
  institution = {{MIT} {Artificial} {Intelligence} {Laboratory}},
  optyear = {2002},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@PHDTHESIS{PeshkinPhD,
  author = {Leonid Peshkin},
  title = {Reinforcement Learning by Policy Search},
  school = {Brown University},
  year = {2001},
  address = {Providence, RI},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@MASTERSTHESIS{PeshkinMS,
  author = {Leonid Peshkin},
  title = {Statistical Analysis of Brain Imaging Data},
  school = {Weizmann Institute of Science},
  year = {1995},
  address = {Rehovot, Israel},
  month = {Aug},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{PeshkinDNA,
  author = {Peshkin, Leonid and Mikhail Gelfand},
  title = {Segmentation of Yeast {DNA} Using Hidden {Markov} Models},
  journal = {Bioinformatics},
  year = {2000},
  volume = {15},
  pages = {960-966},
  number = {12},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Peshkin99,
  author = {Peshkin, Leonid and Meuleau, Nicolas and Kaelbling, Leslie P.},
  title = {Learning Policies with External Memory},
  booktitle = ml99,
  year = {1999},
  editor = {Bratko, I. and Dzeroski, S.},
  pages = {307-314},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  optaddress = {San Francisco, CA},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Peshkin00,
  author = {Peshkin, Leonid and Meuleau, Nicolas and Kaelbling, Leslie P.},
  title = {Learning to Cooperate via Policy Search},
  booktitle = uai00,
  year = {2000},
  pages = {307-314},
  address = {San Francisco, CA},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Peshkin01,
  author = {Peshkin, Leonid and Mukherjee, Sayan},
  title = {Bounds on sample size for policy evaluation in {Markov} environments},
  booktitle = colt01,
  year = {2001},
  pages = {608-15},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{peshkinijcai03,
  author = {Leonid Peshkin and Avi Pfefer},
  title = {Bayesian Information Extraction Network},
  booktitle = {Proceedings of the Eighteenth International Joint Conf. on Artificial
	Intelligence},
  year = {2003},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.ist.psu.edu/article/peshkin03bayesian.html}
}

@INPROCEEDINGS{Peshkin02,
  author = {Peshkin, Leonid and Savova, Virginia},
  title = {Reinforcement Learning for Adaptive Routing},
  booktitle = ijcnn,
  year = {2002},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Savova02,
  author = {Peshkin, Leonid and Savova, Virginia},
  title = {On Biological Plausibility of Policy Search},
  booktitle = {Proceedings of the Sixth International Conf. on Cognitive and Neural
	Systems},
  year = {2002},
  address = {Boston, MA},
  month = {May},
  __markedentry = {[mihail]},
  optnote = {in review},
  optorganization = {ICCNS},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{PeshkinICML02,
  author = {Leonid Peshkin and Christian R. Shelton},
  title = {Learning from scarse experience},
  booktitle = ml02,
  year = {2002},
  __markedentry = {[mihail]},
  optnote = {to appear},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Petersson1999,
  author = {Petersson, L. and Egerstedt, M. and Christensen, H. I. },
  title = {A hybrid control architecture for mobile manipulation},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS '99},
  year = {1999},
  volume = {3},
  pages = {1285--1291 vol.3},
  abstract = {We present a scheme for mobile manipulation by introducing a mobile
	manipulation control architecture (MMCA). This architecture is motivated
	by a need for a systematic control structure for robotic manipulation
	within a behavior based framework. The control structure enables
	integration of the manipulator into a behavior based control structure
	for the platform. Furthermore, our suggested MMCA is designed in
	such a way that it supports design and performance analysis from
	both a manipulator dynamics and a hybrid automata perspective},
  doi = {10.1109/IROS.1999.811657},
  keywords = {Jacobian matrices, automata theory, intelligent control, manipulator
	dynamics, mobile robots, behavior based framework, hybrid automata,
	hybrid control architecture, mobile manipulation, performance analysis,
	systematic control structure},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Petrovskaya2006,
  author = {Petrovskaya, A. and Khatib, O. and Thrun, S. and Ng, A. Y. },
  title = {Bayesian estimation for autonomous object manipulation based on tactile
	sensors},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA 2006},
  year = {2006},
  pages = {707--714},
  abstract = {We consider the problem of autonomously estimating position and orientation
	of an object from tactile data. When initial uncertainty is high,
	estimation of all six parameters precisely is computationally expensive.
	We propose an efficient Bayesian approach that is able to estimate
	all six parameters in both unimodal and multimodal scenarios. The
	approach is termed scaling series sampling as it estimates the solution
	region by samples. It performs the search using a series of successive
	refinements, gradually scaling the precision from low to high. Our
	approach can be applied to a wide range of manipulation tasks. We
	demonstrate its portability on two applications: (1) manipulating
	a box and (2) grasping a door handle},
  doi = {10.1109/ROBOT.2006.1641793},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Pettr'e2008,
  author = {Pettr\'{e}, Julien and Kallmann, Marcelo and Lin, Ming C.},
  title = {Motion planning and autonomy for virtual humans},
  booktitle = {SIGGRAPH '08: ACM SIGGRAPH 2008 classes},
  year = {2008},
  pages = {1--31},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {An enormous amount of Motion Planning techniques has been developed
	in the past decade specifically targeting applications in Computer
	Animation. Going beyond the traditional path planning for navigation,
	recent techniques address challenging problems in cluttered environments
	ranging from crowd navigation among obstacles to multi-agent cooperative
	manipulation and to whole-body manipulation and locomotion planning.
	Given these recent advances, Motion Planning has already become a
	main tool for controlling autonomous virtual characters and will
	become crucial for empowering the next generation of Virtual Humans
	with the Motion Autonomy that will be needed in increasingly complex,
	interactive and realistic Computer Games and Virtual Reality Applications.
	These notes present for the first time a systematic and comprehensive
	exposition of the main Motion Planning techniques that have been
	developed for applications in Computer Animation, in particular for
	the animation of Virtual Humans (VHs). These notes comprehensively
	document the class "Motion Planning and Autonomy for Virtual Humans"
	delivered at SIGGRAPH 2008. We start with the basic concepts of Motion
	Planning and then present techniques for increasingly complex problems:
	ranging from the navigation of single and multiple VHs to object
	manipulation and synchronization of manipulation and locomotion.
	We also explain how Motion Planning techniques can handle challenging
	problems involving underactuated and redundant skeletal structures
	of Virtual Humans and show examples of complex motions planned in
	high-dimensional configuration spaces subjected to geometric and
	kinematic constraints. The advantages of configuration-space Motion
	Planning are in particular emphasized, for instance in contrast with
	common approaches based on executing end-effector trajectories with
	Inverse Kinematics. The described techniques expose the pluridisciplinary
	aspects of Computer Graphics and Robotics, from the Motion Planning
	origins in Robotics to its continuous development relying on Graphics
	tools, to the current increasing need of motion autonomy in Computer
	Animation. After reading these notes, the reader will obtain a clear
	understanding of the potential of Motion Planning and the new dimension
	of motion autonomy that is being achieved by its variety of techniques.},
  doi = {http://doi.acm.org/10.1145/1401132.1401193},
  location = {Los Angeles, California},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{Piatt2006,
  author = {Piatt, R. and Burridge, R. and Diftler, M. and Graf, J. and Goza,
	M. and Huber, E. and Brock, O. },
  title = {Humanoid Mobile Manipulation Using Controller Refinement},
  booktitle = {Proc. 6th IEEE-RAS International Conference on Humanoid Robots},
  year = {2006},
  pages = {94--101},
  abstract = {An important class of mobile manipulation problems are "move-to-grasp"
	problems where a mobile robot must navigate to and pick up an object.
	One of the distinguishing features of this class of tasks is its
	coarse-to-fine structure. Near the beginning of the task, the robot
	can only sense the target object coarsely or indirectly and make
	gross motion toward the object. However, after the robot has located
	and approached the object, the robot must finely control its grasping
	contacts using precise visual and haptic feedback. This paper proposes
	that move-to-grasp problems are naturally solved by a sequence of
	controllers that iteratively refines what ultimately becomes the
	final solution. This paper introduces the notion of a refining sequence
	of controllers and defines it in terms of controller goal regions
	and domains of attraction. Refining sequences are shown to be more
	robust than other types of controller sequences. In addition, a procedure
	for converting a refining sequence into an equivalent "parallelized"
	controller is proposed. Executing this parallelized controller confers
	all the advantages of iteratively executing the controllers sequentially.
	The approach is demonstrated in a move-to-grasp task where Robonaut,
	the NASA/JSC dexterous humanoid, is mounted on a mobile base and
	navigates to and picks up a geological sample box},
  doi = {10.1109/ICHR.2006.321369},
  keywords = {dexterous manipulators, grippers, humanoid robots, iterative methods,
	mobile robots, motion control, robot vision, Robonaut, controller
	refinement, dexterous humanoid, haptic feedback, humanoid mobile
	manipulation, iterative solving, mobile robot, move-to-grasp problem,
	parallelized controller, visual feedback},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{pin_culioli_iros90,
  author = {F.G. Pin and J.C. Culioli},
  title = {Multi-criteria position and configuration optimization for redundant
	platform/manipulator systems},
  booktitle = {IROS},
  year = {1990},
  owner = {Mihail},
  timestamp = {2010.03.07}
}

@INPROCEEDINGS{pivtoraiko_atequal09,
  author = {Mihail Pivtoraiko},
  title = {Adaptive Anytime Motion Planning for Robust Robot Navigation in Natural
	Environments},
  booktitle = {AT-EQUAL '09: Proceedings of the 2009 Advanced Technologies for Enhanced
	Quality of Life},
  year = {2009},
  pages = {123--129},
  abstract = {The problem of robot navigation is treated under constraints of limited
	perception horizon in complex, cluttered, natural environments. We
	propose a solution based on our previous work in fast constrained
	motion planning, where arbitrary mobility constraints could be satisfied
	while the planning problem is reduced to unconstrained heuristic
	search in state lattices. By trading off optimality, we improve planner
	run-times and increase robustness through achieving anytime planning
	quality, such that it becomes possible to integrate the planner within
	the high speed navigation framework. We show that using a planner
	in navigation works well and fast enough for real vehicle implementation,
	while it presents a number of important benefits over state-of-the-art
	in navigation.},
  bib2html_pubtype = {Refereed Conferences},
  bib2html_rescat = {Robot Navigation},
  doi = {10.1109/AT-EQUAL.2009.33},
  isbn = {978-0-7695-3753-5},
  wwwnote = {<i>Homayoun Seraji</i> best paper award}
}

@INPROCEEDINGS{pivtoraiko_etal_isairas08,
  author = {Mihail Pivtoraiko and Thomas Howard and Issa A.D. Nesnas and Alonzo
	Kelly},
  title = {Field Experiments in Rover Navigation via Model-Based Trajectory
	Generation and Nonholonomic Motion Planning in State Lattices},
  booktitle = {Proceedings of the 9th International Symposium on Artificial Intelligence,
	Robotics, and Automation in Space},
  year = {2008},
  abstract = {This paper presents field experiments of two novel approaches to local
	and regional motion planning applied to planetary rover navigation.
	The first approach solves the two-point boundary value problem using
	a model-based trajectory optimization technique that inverts an arbitrary
	dynamics model to generate a feasible motion plan. The second approach
	utilizes this result to build a special discretization of the state
	space that allows employing standard search algorithms for solving
	the motion planning problem. These approaches enable robot autonomy
	by considering the robotâ€™s dynamics, efficiently searching a finely
	discretized state space, and allowing the reuse of previous planning
	computation to improve runtime. We present results from the experiments
	on the Rocky 8 and FIDO planetary rover prototypes in the NASA/JPL
	Mars Yard.},
  bib2html_pubtype = {Refereed Conferences},
  bib2html_rescat = {Robot Navigation},
  owner = {mihail},
  timestamp = {2010.08.07}
}

@INPROCEEDINGS{pivtoraiko_howard_nesnas_kelly_08,
  author = {M. Pivtoraiko and T. Howard and I. Nesnas and A. Kelly},
  title = {Field Experiments in Rover Navigation via Model-Based Trajectory
	Generation and Nonholonomic Motion Planning in State Lattices},
  booktitle = {Proc. of the Int. Symp. on Artificial Intelligence, Robotics and
	Automation in Space},
  year = {2008},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{pivtoraiko_kelly_iros11,
  author = {Pivtoraiko, Mihail and Kelly, Alonzo},
  title = {Kinodynamic motion planning with state lattice motion primitives},
  booktitle = {Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf},
  year = {2011},
  pages = {2172--2179},
  abstract = {This paper presents a type of motion primitives that can be used for
	building efficient kinodynamic motion planners. The primitives are
	pre-computed to meet two objective: to capture the mobility constraints
	of the robot as well as possible and to establish a state sampling
	policy that is conductive to efficient search. The first objective
	allows encoding mobility constraints into primitives, thereby enabling
	fast unconstrained search to produce feasible solutions. The second
	objective enables high quality (lattice) sampling of state space,
	further speeding up exploration during search. We further discuss
	several novel results enabled by using such motion primitives for
	kinodynamic planning, including incremental search, efficient bi-directional
	search and incremental sampling.},
  doi = {10.1109/IROS.2011.6094900},
  owner = {mihail},
  timestamp = {2012.01.19}
}

@INCOLLECTION{pivtoraiko_kelly_icra10,
  author = {Mihail Pivtoraiko and Alonzo Kelly},
  title = {Rover Trajectory Planning: Constrained Global Planning and Path Relaxation},
  booktitle = {International Conference on Robotics and Automation},
  year = {2010},
  abstract = {We focus on efficient goal acquision and obstacle avoidance using
	autonomous wheeled robots operating in cluttered natural environments.
	The approach a hierarchical structure that consists local and global
	motion planners operating in tandem. A conventional approach to designing
	the local planner in this setting is to evaluate a fixed number of
	constant-curvature arc motions and pick one that is the best balance
	between the quality of obstacle avoidance and minimizing traversed
	path length to the goal (or a similar measure of operation cost).
	Here we describe an approach based on path relaxation: optimizing
	the sampled action space for the perceived environment. The gradient
	based approach minimizes the cost of each motion in the path set
	until convergence into a local optimum is reached. Simulation experiments
	show that relaxed arc sets offer better approximations of the acceptable
	path continuum and lead to safer navigation in rough terrain and
	dense obstacle fields.},
  bib2html_pubtype = {Workshops},
  bib2html_rescat = {Robot Navigation}
}

@INCOLLECTION{pivtoraiko_kelly_icra09,
  author = {Mihail Pivtoraiko and Alonzo Kelly},
  title = {Fast and Feasible Deliberative Motion Planner for Dynamic Environments},
  booktitle = {International Conference on Robotics and Automation},
  year = {2009},
  abstract = {We present an approach to the problem of differentially constrained
	mobile robot motion planning in arbitrary time-varying cost fields.
	We construct a special search space which is ideally suited to the
	requirements of dynamic environments including a) feasible motion
	plans that satisfy differential constraints, b) efficient plan repair
	at high update rates, and c) deliberative goal-directed behavior
	on scales well beyond the effective range of perception sensors.
	The search space contains edges which adapt to the state sampling
	resolution yet aquire states exactly in order to permit the use of
	the dynamic programming principle without introducing infeasibility.
	It is a symmetric lattice based on a repeating unit of controls which
	permits off-line computation of the planner heuristic, motion simulation,
	and the swept volumes associated with each motion. For added planning
	efficiency, the search space features fine resolution near the vehicle
	and reduced resolution far away. Furthermore, its topology is updated
	in real-time as the vehicle moves in such a way that the underlying
	motion planner processes changing topology as an equivalent change
	in the dynamic environment. The planner was originally developed
	to cope with the reduced computation available on the Mars rovers.
	Experimental results with research prototype rovers demonstrate that
	the planner allows us to exploit the entire envelope of vehicle maneuverability
	in rough terrain, while featuring real-time performance.},
  bib2html_pubtype = {Workshops},
  bib2html_rescat = {Kinodynamic Planning},
  owner = {mihail},
  timestamp = {2010.08.07}
}

@INPROCEEDINGS{pivtoraiko_kelly_iros08,
  author = {Mihail Pivtoraiko and Alonzo Kelly},
  title = {Differentially Constrained Motion Replanning using State Lattices
	with Graduated Fidelity},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent
	Robots and Systems},
  year = {2008},
  pages = {2611--2616},
  month = {September},
  abstract = {This paper presents an approach to differentially constrained robot
	motion planning and efficient re-planning. Satisfaction of differential
	constraints is guaranteed by the state lattice, a search space which
	consists of motions that satisfy the constraints by construction.
	Any systematic replanning algorithm, e.g. D*, can be utilized to
	search the state lattice to find a motion plan that satisfies the
	differential constraints, and to repair it efficiently in the event
	of a change in the environment. Further efficiency is obtained by
	varying the fidelity of representation of the planning problem. High
	fidelity is utilized where it matters most, while it is lowered in
	the areas that do not affect the quality of the plan significantly.
	The paper presents a method to modify the fidelity between replans,
	thereby enabling dynamic flexibility of the search space, while maintaining
	its compatibility with replanning algorithms. The approach is especially
	suited for mobile robotics applications in unknown challenging environments.
	In this setting, we applied the planner successfully to the navigation
	of research prototype rovers in JPL Mars Yard.},
  bib2html_pubtype = {Refereed Conferences},
  bib2html_rescat = {Kinodynamic Planning},
  doi = {10.1109/IROS.2008.4651220}
}

@INPROCEEDINGS{pivtoraiko_kelly_fsr05,
  author = {Mihail Pivtoraiko and Alonzo Kelly},
  title = {Constrained Motion Planning in Discrete State Spaces},
  booktitle = {Field and Service Robotics},
  year = {2005},
  pages = {269-280},
  abstract = {We propose a principled method to create a search space for constrained
	motion planning, which efficiently encodes only feasible motion plans.
	The space of possible paths is encoded implicitly in the connections
	between states, but only feasible and only local connections are
	allowed. Furthermore, we propose a systematic method to generate
	a near-minimal set of spatially distinct motion alternatives. This
	set of motion primitives preserves the connectivity of the representation
	while eliminating redundancy -- leading to a very efficient structure
	for motion planning at the chosen resolution.},
  bib2html_pubtype = {Refereed Conferences},
  bib2html_rescat = {Kinodynamic Planning}
}

@INPROCEEDINGS{pivtoraiko_kelly_iros05,
  author = {Mihail Pivtoraiko and Alonzo Kelly},
  title = {Generating Near-Minimal Spanning Control Sets for Constrained Motion
	Planning in Discrete State Spaces},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent
	Robots and Systems},
  year = {2005},
  pages = {3231--3237},
  month = {August},
  abstract = {We propose a principled method to create a search space for constrained
	motion planning, which efficiently encodes only feasible motion plans.
	The space of possible paths is encoded implicitly in the connections
	between states, but only feasible and only local connections are
	allowed. Furthermore, we propose a systematic method to generate
	a near-minimal set of spatially distinct motion alternatives. This
	set of motion primitives preserves the connectivity of the representation
	while eliminating redundancy -- leading to a very efficient structure
	for motion planning at the chosen resolution.},
  bib2html_pubtype = {Refereed Conferences},
  bib2html_rescat = {Kinodynamic Planning},
  doi = {10.1109/IROS.2005.1545046}
}

@INPROCEEDINGS{pivtoraiko_kelly_isairas05,
  author = {Mihail Pivtoraiko and Alonzo Kelly},
  title = {Efficient Constrained Path Planning via Search in State Lattices},
  booktitle = {Proceedings of the 8th International Symposium on Artificial Intelligence,
	Robotics and Automation in Space},
  year = {2005},
  abstract = {We propose a novel approach to constrained path planning that is based
	on a special search space which efficiently encodes feasible paths.
	The paths are encoded implicitly as connections between states, but
	only feasible and local connections are included. Once this search
	space is developed, we systematically generate a nearminimal set
	of spatially distinct path primitives. This set expresses the local
	connectivity of constrained motions and also eliminates redundancies.
	The set of primitives is used to define heuristic search, and thereby
	create a very efficient path planner at the chosen resolution. We
	also discuss a wide variety of space and terrestrial robotics applications
	where this motion planner can be especially useful.},
  bib2html_pubtype = {Refereed Conferences},
  bib2html_rescat = {Kinodynamic Planning},
  owner = {mihail},
  timestamp = {2010.08.07}
}

@ARTICLE{pivtoraiko_knepper_kelly_jfr09,
  author = {Mihail Pivtoraiko and Ross A. Knepper and Alonzo Kelly},
  title = {Differentially Constrained Mobile Robot Motion Planning in State
	Lattices},
  journal = {Journal of Field Robotics},
  year = {2009},
  volume = {26},
  pages = {308--333},
  number = {3},
  abstract = {We present an approach to the problem of differentially constrained
	mobile robot motion planning in arbitrary cost fields. The approach
	is based on deterministic search in a specially discretized state
	space. We compute a set of elementary motions that connects each
	discrete state value to a set of its reachable neighbors via feasible
	motions. Thus, this set of motions induces a connected search graph.
	The motions are carefully designed to terminate at discrete states,
	whose dimensions include relevant state variables (e.g., position,
	heading, curvature, and velocity). The discrete states, and thus
	the motions, repeat at regular intervals, forming a lattice. We ensure
	that all paths in the graph encode feasible motions via the imposition
	of continuity constraints on state variables at graph vertices and
	compliance of the graph edges with a differential equation comprising
	the vehicle model. The resulting state lattice permits fast full
	configuration space cost evaluation and collision detection. Experimental
	results with research prototype rovers demonstrate that the planner
	allows us to exploit the entire envelope of vehicle maneuverability
	in rough terrain, while featuring real-time performance. &copy; 2009
	Wiley Periodicals, Inc.},
  address = {Chichester, UK},
  bib2html_pubtype = {Journals},
  bib2html_rescat = {Kinodynamic Planning},
  doi = {10.1002/rob.v26:3},
  issn = {1556-4959},
  publisher = {John Wiley and Sons Ltd.}
}

@INPROCEEDINGS{pivtoraiko_nesnas_kelly_aerospace09,
  author = {Mihail Pivtoraiko and Issa A.D. Nesnas and Alonzo Kelly},
  title = {Autonomous Robot Navigation Using Advanced Motion Primitives},
  booktitle = {Proc. of the IEEE Aerospace Conference},
  year = {2009},
  pages = {1--7},
  month = {March},
  abstract = {We present an approach to efficient navigation of autonomous wheeled
	robots operating in cluttered natural environments. The approach
	builds upon a popular method of autonomous robot navigation, where
	desired robot motions are computed using local and global motion
	planners operating in tandem. A conventional approach to designing
	the local planner in this setting is to evaluate a fixed number of
	constant-curvature arc motions and pick one that is the best balance
	between the quality of obstacle avoidance and minimizing traversed
	path length to the goal (or a similar measure of operation cost).
	The presented approach proposes a different set of motion alternatives
	considered by the local planner. Important performance improvement
	is achieved by relaxing the assumption that motion alternatives are
	constant-curvature arcs. We first present a method to measure the
	quality of local planners in this setting. Further, we identify general
	techniques of designing improved sets of motion alternatives. By
	virtue of a minor modification, solely replacing the motions considered
	by the local planner, our approach offers a measurable performance
	improvement of dual-planner navigation systems},
  bib2html_pubtype = {Refereed Conferences},
  bib2html_rescat = {Robot Navigation},
  doi = {10.1109/AERO.2009.4839309}
}

@ARTICLE{Plaku2005,
  author = {Plaku, E. and Bekris, K. E. and Chen, B. Y. and Ladd, A. M. and Kavraki,
	L. E. },
  title = {Sampling-Based Roadmap of Trees for Parallel Motion Planning},
  journal = {IEEE Transactions on Robotics},
  year = {2005},
  volume = {21},
  pages = {597--608},
  number = {4},
  abstract = {This paper shows how to effectively combine a sampling-based method
	primarily designed for multiple-query motion planning [probabilistic
	roadmap method (PRM)] with sampling-based tree methods primarily
	designed for single-query motion planning (expansive space trees,
	rapidly exploring random trees, and others) in a novel planning framework
	that can be efficiently parallelized. Our planner not only achieves
	a smooth spectrum between multiple-query and single-query planning,
	but it combines advantages of both. We present experiments which
	show that our planner is capable of solving problems that cannot
	be addressed efficiently with PRM or single-query planners. A key
	advantage of our planner is that it is significantly more decoupled
	than PRM and sampling-based tree planners. Exploiting this property,
	we designed and implemented a parallel version of our planner. Our
	experiments show that our planner distributes well and can easily
	solve high-dimensional problems that exhaust resources available
	to single machines and cannot be addressed with existing planners.},
  doi = {10.1109/TRO.2005.847599},
  issn = {1552-3098},
  keywords = {mobile robots, motion control, path planning, expansive space trees,
	multiple-query motion planning, probabilistic roadmap method, sampling-based
	roadmap, sampling-based tree methods, Expansive space trees (EST),
	motion planning, parallel algorithms, probabilistic roadmap method
	(PRM), rapidly exploring random trees (RRT), roadmap, sampling-based
	planning, sampling-based roadmap of trees (SRT), tree},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Plaku2007a,
  author = {Plaku, E. and Bekris, K. E. and Kavraki, L. E. },
  title = {OOPS for Motion Planning: An Online, Open-source, Programming System},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {2007},
  pages = {3711--3716},
  abstract = {The success of sampling-based motion planners has resulted in a plethora
	of methods for improving planning components, such as sampling and
	connection strategies, local planners and collision checking primitives.
	Although this rapid progress indicates the importance of the motion
	planning problem and the maturity of the field, it also makes the
	evaluation of new methods time consuming. We propose that a systems
	approach is needed for the development and the experimental validation
	of new motion planners and/or components in existing motion planners.
	In this paper, we present the online, open-source, programming system
	for motion planning (OOPS<sub>MP</sub>), a programming infrastructure
	that provides implementations of various existing algorithms in a
	modular, object-oriented fashion that is easily extendible. The system
	is open-source, since a community-based effort better facilitates
	the development of a common infrastructure and is less prone to errors.
	We hope that researchers will contribute their optimized implementations
	of their methods and thus improve the quality of the code available
	for use. A dynamic Web interface and a dynamic linking architecture
	at the programming level allows users to easily add new planning
	components, algorithms, benchmarks, and experiment with different
	parameters. The system allows the direct comparison of new contributions
	with existing approaches on the same hardware and programming infrastructure},
  doi = {10.1109/ROBOT.2007.364047},
  issn = {1050-4729},
  keywords = {Internet, object-oriented programming, path planning, robot programming,
	collision checking, dynamic Web interface, dynamic linking architecture,
	motion planning, object-oriented programming, online open-source
	programming system, programming infrastructure},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Plaku2008,
  author = {Plaku, E. and Kavraki, L. E. and Vardi, M. Y. },
  title = {Impact of workspace decompositions on discrete search leading continuous
	exploration (DSLX) motion planning},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2008},
  year = {2008},
  pages = {3751--3756},
  abstract = {We have recently proposed DSLX, a motion planner that significantly
	reduces the computational time for solving challenging kinodynamic
	problems by interleaving continuous state-space exploration with
	discrete search on a workspace decomposition. An important but inadequately
	understood aspect of DSLX is the role of the workspace decomposition
	on the computational efficiency of the planner. Understanding this
	role is important for successful applications of DSLX to increasingly
	complex robotic systems. This work shows that the granularity of
	the workspace decomposition directly impacts computational efficiency:
	DSLX is faster when the decomposition is neither too fine-nor too
	coarse-grained. Finding the right level of granularity can require
	extensive fine-tuning. This work demonstrates that significant computational
	efficiency can instead be obtained with no fine-tuning by using conforming
	Delaunay triangulations, which in the context of DSLX provide a natural
	workspace decomposition that allows an efficient interplay between
	continuous state-space exploration and discrete search. The results
	of this work are based on extensive experiments on DSLX using grid,
	trapezoidal, and triangular decompositions of various granularities
	to solve challenging first and second-order kinodynamic motion-planning
	problems.},
  doi = {10.1109/ROBOT.2008.4543786},
  issn = {1050-4729},
  keywords = {mesh generation, path planning, robot dynamics, Delaunay triangulations,
	complex robotic systems, discrete search leading continuous exploration
	motion planning, interleaving continuous state-space exploration,
	kinodynamic problems, second-order kinodynamic motion-planning problems,
	triangular decompositions, workspace decompositions},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Plaku2007,
  author = {Plaku, E. and Kavraki, L. E. and Vardi, M. Y. },
  title = {A Motion Planner for a Hybrid Robotic System with Kinodynamic Constraints},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {2007},
  pages = {692--697},
  abstract = {The rapidly increasing complexity of tasks robotic systems are expected
	to carry out underscores the need for the development of motion planners
	that can take into account discrete changes in the continuous motions
	of the system. Completion of tasks such as exploration of unknown
	or hazardous environments often requires discrete changes in the
	controls and motions of the robot in order to adapt to different
	terrains or maintain operability during partial failures or other
	mishaps. The contribution of this work toward this objective is the
	development of an efficient motion planner for a hybrid robotic system.
	The controls and motion equations of the robot could change discretely
	in order to enable the robot to operate in different terrains. The
	framework in this paper blends discrete searching with sampling-based
	motion planning for continuous state spaces and is well-suited for
	robotic systems modeled as hybrid systems with numerous discrete
	modes and transitions. This multi-layered approach offers considerable
	improvements over existing methods addressing similar problems, as
	indicated by the experimental results.},
  doi = {10.1109/ROBOT.2007.363067},
  issn = {1050-4729},
  keywords = {mobile robots, motion control, navigation, path planning, continuous
	state spaces, discrete searching, hybrid robotic system, kinodynamic
	constraints, sampling-based motion planning},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@TECHREPORT{Polani99,
  author = {Daniel Polani and Risto Miikkulainen},
  title = {Fast Reinforcement Learning through Eugenic Neuro-Evolution},
  institution = {University of Texas at Austin},
  year = {1999},
  number = {AI99-277},
  address = {Austin, TX},
  month = {24},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/polani99fast.html}
}

@BOOK{Pollard84,
  title = {Convergence of Stochastic Processes},
  publisher = {Springer},
  year = {1984},
  author = {David Pollard},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Popovi'c2000,
  author = {Popovi\'{c}, Jovan and Seitz, Steven M. and Erdmann, Michael and
	Popovi\'{c}, Zoran and Witkin, Andrew},
  title = {Interactive manipulation of rigid body simulations},
  booktitle = {SIGGRAPH '00: Proceedings of the 27th annual conference on Computer
	graphics and interactive techniques},
  year = {2000},
  pages = {209--217},
  address = {New York, NY, USA},
  publisher = {ACM Press/Addison-Wesley Publishing Co.},
  abstract = {Physical simulation of dynamic objects has become commonplace in computer
	graphics because it produces highly realistic animations. In this
	paradigm the animator provides few physical parameters such as the
	objects' initial positions and velocities, and the simulator automatically
	generates realistic motions. The resulting motion, however, is difficult
	to control because even a small adjustment of the input parameters
	can drastically affect the subsequent motion. Furthermore, the animator
	often wishes to change the end-result of the motion instead of the
	initial physical parameters.},
  doi = {http://doi.acm.org/10.1145/344779.344880},
  isbn = {1-58113-208-5},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@ARTICLE{Powell98,
  author = {M. Powell},
  title = {Direct search algorithms for optimization calculations},
  journal = {Acta Numerica},
  year = {1998},
  pages = {287--336},
  __markedentry = {[mihail]},
  editor = {A. Iserles},
  owner = {mihail},
  publisher = {Cambridge University Press},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/powell98direct.html}
}

@ARTICLE{Powell66,
  author = {M. Powell and J. Swann},
  title = {Weighted uniform sampling - a {M}onte {C}arlo technique for reducing
	variance},
  journal = jima,
  year = {1966},
  volume = {2},
  pages = {228--236},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{PrecupICML00,
  author = {Precup, Doina and Sutton, Richard S. and Singh, Satinder P.},
  title = {Eligibility Traces for Off-Policy Policy Evaluation},
  booktitle = ml00,
  year = {2000},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Press86,
  title = {Numerical Recipes, The Art of Scientific Computing},
  publisher = {Cambridge University Press},
  year = {1986},
  author = {W. H. Press and B. P. Flannery and S. A. Teukolsky and W. T. Vetterling},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Press93,
  title = {Numerical Recipes in {C}: The Art of Scientific Computing},
  publisher = {Cambridge University Press},
  year = {1993},
  author = {William H. Press and Saul A. Teukolsky and William T. Vetterling
	and Brian P. Flannery},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Puterman94,
  title = {Markov Decision Processes},
  publisher = {John Wiley \& Sons},
  year = {1994},
  author = {M.L. Puterman},
  __markedentry = {[mihail]},
  optaddress = {New York, NY},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@PHDTHESIS{quinlan_thesis,
  author = {Sean Quinlan},
  title = {Real-time modification of collision-free paths},
  school = {Stanford University},
  year = {1994},
  month = {12},
  owner = {Mihail},
  timestamp = {2010.04.26}
}

@INPROCEEDINGS{quinlan_khatib_icra93,
  author = {Quinlan, S. and Khatib, O.},
  title = {{E}lastic {B}ands: connecting path planning and control},
  booktitle = {Proc. Conf. IEEE Int Robotics and Automation},
  year = {1993},
  pages = {802--807},
  abstract = {Elastic bands are proposed as the basis for a framework to close the
	gap between global path planning and real-time sensor-based robot
	control. An elastic band is a deformable collision-free path. The
	initial shape of the elastic is the free path generated by a planner.
	Subjected to artificial forces, the elastic band deforms in real
	time to a short and smooth path that maintains clearance from the
	obstacles. The elastic continues to deform as changes in the environment
	are detected by sensors, enabling the robot to accommodate uncertainties
	and react to unexpected and moving obstacles. While providing a tight
	connection between the robot and its environment, the elastic band
	preserves the global nature of the planned path. The framework is
	outlined, and an efficient implementation based on bubbles is discussed},
  doi = {10.1109/ROBOT.1993.291936},
  owner = {mihail},
  timestamp = {2012.01.26}
}

@ARTICLE{Rabiner89,
  author = {Rabiner, L. R.},
  title = {A tutorial on hidden {Markov} models and selected applications in
	speech recognition},
  journal = {Proceedings of the IEEE},
  year = {1989},
  volume = {77},
  pages = {257-286},
  number = {2},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Rabiner86,
  author = {Rabiner, L. R. and Juang, B. H.},
  title = {An Introduction to Hidden {Markov} Models},
  journal = {IEEE ASSP Magazine},
  year = {1986},
  pages = {4-15},
  month = {January},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Ramamoorthy2008,
  author = {Ramamoorthy, Subramanian and Rajagopal, Ram and Wenzel, Lothar},
  title = {Efficient, incremental coverage of space with a continuous curve},
  journal = {Robotica},
  year = {2008},
  volume = {26},
  pages = {503--512},
  number = {4},
  abstract = {This paper is concerned with algorithmic techniques for the incremental
	generation of continuous curves that can efficiently cover an abstract
	surface. We introduce the notion of low-discrepancy curves as an
	extension of the notion of low-discrepancy sequences---such that
	sufficiently smooth curves with low-discrepancy properties can be
	defined and generated. We then devise a procedure for lifting these
	curves, that efficiently cover the unit cube, to abstract surfaces,
	such as nonlinear manifolds. We present algorithms that yield suitable
	fair mappings between the unit cube and the abstract surface. We
	demonstrate the application of these ideas using some concrete examples
	of interest in robotics.},
  address = {New York, NY, USA},
  doi = {http://dx.doi.org/10.1017/S0263574707004067},
  issn = {0263-5747},
  owner = {Mihail},
  publisher = {Cambridge University Press},
  timestamp = {2010.06.29}
}

@ARTICLE{Rao2007,
  author = {Rao, Malvika and Dudek, Gregory and Whitesides, Sue},
  title = {Randomized Algorithms for Minimum Distance Localization},
  journal = {Int. J. Rob. Res.},
  year = {2007},
  volume = {26},
  pages = {917--933},
  number = {9},
  abstract = {The problem of minimum distance localization in environments that
	may contain self-similarities is addressed. A mobile robot is placed
	at an unknown location inside a 2D self-similar polygonal environment
	P. The robot has a map of P and can compute visibility data through
	sensing. However, the self-similarities in the environment mean that
	the same visibility data may correspond to several different locations.
	The goal, therefore, is to determine the robot's true initial location
	while minimizing the distance traveled by the robot. Two randomized
	approximation algorithms are presented that solve minimum distance
	localization. The performance of the proposed algorithms is evaluated
	empirically.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364907081234},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{ratliff_etal_09,
  author = {Nathan Ratliff and Matt Zucker and J. Andrew Bagnell and Siddhartha
	Srinivasa},
  title = {{CHOMP}: Gradient Optimization Techniques for Efficient Motion Planning},
  booktitle = ICRA,
  year = {2009},
  owner = {Mihail},
  timestamp = {2010.04.26}
}

@ARTICLE{,
  author = {Reed, K. B. and Majewicz, A. and Kallem, V. and Alterovitz, R. and
	Goldberg, K. and Cowan, N. J. and Okamura, A. M. },
  title = {Robot-Assisted Needle Steering},
  journal = {IEEE Robotics \& Automation Magazine},
  year = {2011},
  volume = {18},
  pages = {35--46},
  number = {4},
  abstract = {Needle insertion is a critical aspect of many medical treatments,
	diagnostic methods, and scientific studies, and is considered to
	be one of the simplest and most minimally invasive medical procedures.
	Robot-assisted needle steering has the potential to improve the effectiveness
	of existing medical procedures and enable new ones by allowing increased
	accuracy through more dexterous control of the needle-tip path and
	acquisition of targets not accessible by straight-line trajectories.
	In this article, we describe a robot-assisted needle-steering system
	that uses three integrated controllers: a motion planner concerned
	with guiding the needle around obstacles to a target in a desired
	plane, a planar controller that maintains the needle in the desired
	plane, and a torsion compensator that controls the needle-tip orientation
	about the axis of the needle shaft.},
  doi = {10.1109/MRA.2011.942997},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@ARTICLE{Reeds1990,
  author = {Reeds, J. A. and Shepp, L. A.},
  title = {Optimal paths for a car that goes both forwards and backwards},
  journal = {Pacific Journal of Mathematics},
  year = {1990},
  volume = {145},
  pages = {367-393},
  number = {2},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{reif_79,
  author = {J. Reif},
  title = {Complexity of the mover's problem and generalizations},
  booktitle = {Proc. of IEEE Symposium on Foundations of Computer Science},
  year = {1979},
  pages = {421-427}
}

@ARTICLE{Reitsma2007,
  author = {Reitsma, Paul S. A. and Pollard, Nancy S.},
  title = {Evaluating motion graphs for character animation},
  journal = {ACM Trans. Graph.},
  year = {2007},
  volume = {26},
  pages = {18},
  number = {4},
  abstract = {Realistic and directable humanlike characters are an ongoing goal
	in animation. Motion graph data structures hold much promise for
	achieving this goal; however, the quality of the results obtainable
	from a motion graph may not be easy to predict from its input motion
	clips. This article describes a method for using task-based metrics
	to evaluate the capability of a motion graph to create the set of
	animations required by a particular application. We examine this
	capability for typical motion graphs across a range of tasks and
	environments. We find that motion graph capability degrades rapidly
	with increases in the complexity of the target environment or required
	tasks, and that addressing deficiencies in a brute-force manner tends
	to lead to large, unwieldy motion graphs. The results of this method
	can be used to evaluate the extent to which a motion graph will fulfill
	the requirements of a particular application, lessening the risk
	of the data structure performing poorly at an inopportune moment.
	The method can also be used to characterize the deficiencies of motion
	graphs whose performance will not be sufficient, and to evaluate
	the relative effectiveness of different options for improving those
	motion graphs.},
  address = {New York, NY, USA},
  doi = {http://doi.acm.org/10.1145/1289603.1289609},
  issn = {0730-0301},
  owner = {Mihail},
  publisher = {ACM},
  timestamp = {2010.01.21}
}

@INPROCEEDINGS{Reitsma2004,
  author = {Reitsma, P. S. A. and Pollard, N. S.},
  title = {Evaluating motion graphs for character navigation},
  booktitle = {SCA '04: Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium
	on Computer animation},
  year = {2004},
  pages = {89--98},
  address = {Aire-la-Ville, Switzerland, Switzerland},
  publisher = {Eurographics Association},
  abstract = {Realistic and directable humanlike characters are an ongoing goal
	in animation. Motion graph data structures hold much promise for
	achieving this goal. However, the quality of the results obtained
	from a motion graph may not be easy to predict from the input motion
	segments. This paper introduces the idea of assessing a data structure
	such as a motion graph for its utility in a particular application.
	We focus on navigation tasks and define metrics for evaluating expected
	path quality and coverage for a given environment. One key to evaluating
	a motion graph for navigation tasks is to first embed it into the
	environment in a way that captures all possible paths that might
	result from "playing back" the motion graph within that environment.
	This paper describes an algorithm for accomplishing this embedding
	that preserves the flexibility of the original motion graph. We use
	the metrics defined in this paper to compare motion datasets and
	to highlight areas where these datasets could be improved.},
  doi = {http://doi.acm.org/10.1145/1028523.1028536},
  isbn = {3-905673-14-2},
  location = {Grenoble, France},
  owner = {Mihail},
  timestamp = {2010.01.21}
}

@INPROCEEDINGS{RennieICML99,
  author = {Jason Rennie and Andrew K. McCallum},
  title = {Using reinforcement learning to spider the Web efficiently},
  booktitle = ml99,
  year = {1999},
  pages = {335--343},
  address = {San Francisco, CA},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/rennie99using.html}
}

@INPROCEEDINGS{Repenning2006,
  author = {Repenning, Alexander},
  title = {Collaborative diffusion: programming antiobjects},
  booktitle = {OOPSLA '06: Companion to the 21st ACM SIGPLAN symposium on Object-oriented
	programming systems, languages, and applications},
  year = {2006},
  pages = {574--585},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/1176617.1176630},
  isbn = {1-59593-491-X},
  location = {Portland, Oregon, USA},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Repenning2006a,
  author = {Repenning, Alexander},
  title = {Excuse me, I need better AI!: employing collaborative diffusion to
	make game AI child's play},
  booktitle = {Sandbox '06: Proceedings of the 2006 ACM SIGGRAPH symposium on Videogames},
  year = {2006},
  pages = {169--178},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/1183316.1183341},
  isbn = {1-59593-386-7},
  location = {Boston, Massachusetts},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@BOOK{Resnik,
  title = {Choises: An inroduction to decision theory},
  year = {19??},
  author = {Michael D Resnik},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Rieder2002,
  author = {Rieder, A. and Southall, B. and Salgian, G. and Mandelbaum, R. and
	Herman, H. and Rander, P. and Stentz, T. },
  title = {Stereo perception on an off-road vehicle},
  booktitle = {Proc. IEEE Intelligent Vehicle Symposium},
  year = {2002},
  volume = {1},
  pages = {221--226},
  month = jun # { 17--21,},
  doi = {10.1109/IVS.2002.1187955},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{Rimon1992,
  author = {Rimon, E.  and Koditschek, D. E. },
  title = {Exact robot navigation using artificial potential functions},
  journal = IEEE_J_RA,
  year = {1992},
  volume = {8},
  pages = {501--518},
  number = {5},
  __markedentry = {[mihail:]},
  abstract = {A methodology for exact robot motion planning and control that unifies
	the purely kinematic path planning problem with the lower level feedback
	controller design is presented. Complete information about a freespace
	and goal is encoded in the form of a special artificial potential
	function, called a navigation function, that connects the kinematic
	planning problem with the dynamic execution problem in a provably
	correct fashion. The navigation function automatically gives rise
	to a bounded-torque feedback controller for the robot's actuators
	that guarantees collision-free motion and convergence to the destination
	from almost all initial free configurations. A formula for navigation
	functions that guide a point-mass robot in a generalized sphere world
	is developed. The simplest member of this family is a space obtained
	by puncturing a disk by an arbitrary number of smaller disjoint disks
	representing obstacles. The other spaces are obtained from this model
	by a suitable coordinate transformation. Simulation results for planar
	scenarios are provided},
  doi = {10.1109/70.163777},
  owner = {mihail},
  timestamp = {2012.03.12}
}

@INPROCEEDINGS{Rimon1989,
  author = {Rimon, E.  and Koditschek, D. E. },
  title = {The construction of analytic diffeomorphisms for exact robot navigation
	on star worlds},
  booktitle = {Proc. Conf. IEEE Int Robotics and Automation},
  year = {1989},
  pages = {21--26},
  __markedentry = {[mihail:]},
  abstract = {The authors consider the construction of navigation functions on configuration
	spaces whose geometric expressiveness is rich enough for navigation
	amidst real-world obstacles. They describe a general methodology
	which extends the construction of navigation functions on sphere
	worlds to any smoothly deformable space. According to this methodology,
	the problem of constructing a navigation function is reduced to the
	construction of a transformation mapping a given space into its model
	sphere world. The transformation must satisfy certain regularity
	conditions guaranteeing invariance of the navigation function properties.
	The authors demonstrate this idea by constructing navigation functions
	on star worlds: <e1>n</e1>-dimensional star shaped subsets of <e1>E</e1><sup>n</sup>
	punctured by any finite number of smaller disjoint <e1>n</e1>-dimensional
	stars. This construction yields automatically a bounded torque feedback
	control law which is guaranteed to guide the robot to destination
	point from almost every initial position without hitting any obstacle},
  doi = {10.1109/ROBOT.1989.99962},
  owner = {mihail},
  timestamp = {2012.03.12}
}

@INPROCEEDINGS{Rimon1988,
  author = {Rimon, E.  and Koditschek, D. E. },
  title = {Exact robot navigation using cost functions: the case of distinct
	spherical boundaries in En},
  booktitle = icra,
  year = {1988},
  pages = {1791--1796},
  __markedentry = {[mihail:]},
  abstract = {The utility of artificial potential functions is explored as a means
	of translating automatically a robot task description into a feedback
	control law to drive the robot actuators. A class of functions is
	sought which will guide a point robot amid any finite number of spherically
	bounded obstacles in Euclidean <e1>n</e1>-space toward an arbitrary
	destination point. By introducing a set of additional constraints,
	the subclass of navigation functions is defined. This class is dynamically
	sound in the sense that the actual mechanical system will inherit
	the essential aspects of the qualitative behavior of the gradient
	lines of the cost function. An existence proof is given by constructing
	a one parameter family of such functions; the parameter is used to
	guarantee the absence of local minima},
  doi = {10.1109/ROBOT.1988.12325},
  owner = {mihail},
  timestamp = {2012.03.12}
}

@PHDTHESIS{RingPhD,
  author = {Ring, Mark B.},
  title = {Continual Learning in Reinforcement Environments},
  school = {University of Texas at Austin},
  year = {1994},
  address = {Austin, TX},
  __markedentry = {[mihail]},
  optmonth = {August},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Robbins,
  title = {Stochastic Gradient Descent},
  author = {Robbins and Munroe},
  note = {reffed by Leslie lpk as good ref on SGD},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Robertson1999,
  author = {Robertson, N. and Shankararaman, V. and George, S. and Stentz, R.
	M. },
  title = {Investigation of sewage quality data using machine learning},
  booktitle = {Proc. IEEE International Conference on Systems, Man, and Cybernetics
	IEEE SMC '99},
  year = {1999},
  volume = {2},
  pages = {564--568},
  month = oct # { 12--15,},
  doi = {10.1109/ICSMC.1999.825322},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Robertson2006,
  author = {Robertson, S. W. H. and Durrant-Whyte, H. },
  title = {Turn on a Dime},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems},
  year = {2006},
  pages = {5388--5393},
  month = oct # { 9--15,},
  doi = {10.1109/IROS.2006.282103},
  owner = {Mihail},
  timestamp = {2010.01.20}
}

@ARTICLE{Rosell2007,
  author = {Rosell, Jan and Roa, M\'{a}ximo and P\'{e}rez, Alexander and Garc\'{\i}a,
	Fernando},
  title = {A General Deterministic Sequence for Sampling d-Dimensional Configuration
	Spaces},
  journal = {J. Intell. Robotics Syst.},
  year = {2007},
  volume = {50},
  pages = {361--373},
  number = {4},
  abstract = {Previous works have already demonstrated that deterministic sampling
	can be competitive with respect to probabilistic sampling in sampling-based
	path planners. Nevertheless, the definition of a general sampling
	sequence for any d-dimensional configuration space satisfying the
	requirements needed for path planning is not a trivial issue. This
	paper makes a proposal of a simple and yet efficient deterministic
	sampling sequence based on the recursive use, over a multi-grid cell
	decomposition, of the ordering of the 2 d descendant cells of any
	parent cell. This ordering is generated by the digital construction
	method using a d??d matrix T d . A general expression of this matrix
	(i.e. for any d) is introduced and its performance analyzed in terms
	of the mutual distance. The paper ends with a performance evaluation
	of the use of the proposed deterministic sampling sequence in different
	well known path planners.},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1007/s10846-007-9170-9},
  issn = {0921-0296},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.06.29}
}

@ARTICLE{Rosell2008,
  author = {Rosell, Jan and V\'{a}zquez, Carlos and P\'{e}rez, Alexander and
	I\, {n}iguez, Pedro},
  title = {Motion Planning for Haptic Guidance},
  journal = {J. Intell. Robotics Syst.},
  year = {2008},
  volume = {53},
  pages = {223--245},
  number = {3},
  abstract = {Haptic devices allow a user to feel either reaction forces from virtual
	interactions or reaction forces reflected from a remote site during
	a bilateral teleoperation task. Also, guiding forces can be exerted
	to train the user in the performance of a virtual task or to assist
	him/her to safely teleoperate a robot. The generation of guiding
	forces relies on the existence of a motion plan that provides the
	direction to be followed to reach the goal from any free configuration
	of the configuration space (},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1007/s10846-008-9239-0},
  issn = {0921-0296},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.06.29}
}

@ARTICLE{Rottwitt2003,
  author = {Rottwitt, K. and Bromage, J. and Stentz, A. J. and Lufeng Leng and
	Lines, M. E. and Smith, H. },
  title = {Scaling of the Raman gain coefficient: applications to germanosilicate
	fibers},
  journal = {IEEE/OSA Journal of Lightwave Technology},
  year = {2003},
  volume = {21},
  pages = {1652--1662},
  number = {7},
  month = jul,
  doi = {10.1109/JLT.2003.814386},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Rowe1997,
  author = {Rowe, P. and Stentz, A. },
  title = {Parameterized scripts for motion planning},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS '97},
  year = {1997},
  volume = {2},
  pages = {1119--1124},
  month = sep # { 7--11,},
  doi = {10.1109/IROS.1997.655149},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Roy1996,
  author = {Roy, B. and Kavraki, D. and Bourbakis, N. },
  title = {Modeling pathological patterns of spoken natural language by using},
  booktitle = {Proc. IEEE International Joint Symposia on Intelligence and Systems},
  year = {1996},
  pages = {44--52},
  abstract = {This paper deals with the modeling of spoken natural language (NL)
	to detect schizophrenic patterns. The modeling and analysis of the
	spoken NL is based on its formal representation by using stochastic
	Petri nets (SPNs) and the synthesis of the SPN forms for the appropriate
	interpretations and the detection of schizophrenic patterns, if},
  doi = {10.1109/IJSIS.1996.565050},
  keywords = {Petri nets, grammars, knowledge representation, modelling, natural
	languages, psychology, speech processing, formal representation,
	human communication understanding, knowledge representation, pathological
	spoken patterns, psychology, schizophrenic patterns, spoken natural
	language model, stochastic Petri nets},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@PHDTHESIS{VanRoyPhD,
  author = {Benjamin Van Roy},
  title = {Learning and Value Function Approximation in Complex Decision Processes},
  school = {MIT},
  year = {1998},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{royden_88,
  title = {Real Analysis},
  publisher = {Collier-{M}ac{M}illman {L}imited, London},
  year = {1988},
  author = {H. Royden},
  owner = {mihail},
  timestamp = {2012.01.20}
}

@BOOK{Rubinstein81,
  title = {Simulation and the {M}onte {C}arlo Method},
  publisher = {Wiley},
  year = {1981},
  author = {R.Y. Rubinstein},
  address = {New York, NY},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Rufli2009,
  author = {Rufli, Martin and Ferguson, Dave and Siegwart, Roland},
  title = {Smooth path planning in constrained environments},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA '09},
  year = {2009},
  pages = {3780--3785},
  abstract = {In this paper we describe a novel path planning approach for mobile
	robots operating in indoor environments. In such scenarios, robots
	must be able to maneuver in crowded spaces, partially filled with
	static and dynamic obstacles (such as people). Our approach produces
	smooth, complex maneuvers over large distances through the use of
	an anytime graph search algorithm applied to a novel multi-resolution
	state lattice, where the resolution is adapted based on both environmental
	characteristics and task characteristics. In addition, we present
	a novel approach for generating fast globally optimal trajectories
	in constrained spaces (i.e. rooms connected via doors and hallways).
	This approach exploits offline precomputation to provide extremely
	efficient online performance and is applicable to a wide range of
	both indoor and outdoor navigation scenarios. By combining an anytime,
	multi-resolution lattice-based search algorithm with our precomputation
	technique, globally optimal trajectories in up to four dimensions
	(2D position, heading and velocity) are obtained in real-time.},
  doi = {10.1109/ROBOT.2009.5152506},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Rufli2009a,
  author = {Rufli, Martin and Ferguson, Dave and Siegwart, Roland},
  title = {Smooth path planning in constrained environments},
  booktitle = {ICRA'09: Proceedings of the 2009 IEEE international conference on
	Robotics and Automation},
  year = {2009},
  pages = {2060--2065},
  address = {Piscataway, NJ, USA},
  publisher = {IEEE Press},
  abstract = {In this paper we describe a novel path planning approach for mobile
	robots operating in indoor environments. In such scenarios, robots
	must be able to maneuver in crowded spaces, partially filled with
	static and dynamic obstacles (such as people). Our approach produces
	smooth, complex maneuvers over large distances through the use of
	an anytime graph search algorithm applied to a novel multi-resolution
	state lattice, where the resolution is adapted based on both environmental
	characteristics and task characteristics. In addition, we present
	a novel approach for generating fast globally optimal trajectories
	in constrained spaces (i.e. rooms connected via doors and hallways).
	This approach exploits offline precomputation to provide extremely
	efficient online performance and is applicable to a wide range of
	both indoor and outdoor navigation scenarios. By combining an anytime,
	multi-resolution lattice-based search algorithm with our precomputation
	technique, globally optimal trajectories in up to four dimensions
	(2D position, heading and velocity) are obtained in real-time.},
  isbn = {978-1-4244-2788-8},
  location = {Kobe, Japan},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{Rufli2008,
  author = {Rufli, M. and Scaramuzza, D. and Siegwart, R. },
  title = {Automatic detection of checkerboards on blurred and distorted images},
  booktitle = {Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems IROS 2008},
  year = {2008},
  pages = {3121--3126},
  abstract = {Most of the existing camera calibration toolboxes require the observation
	of a checkerboard shown by the user at different positions and orientations.
	This paper presents an algorithm for the automatic detection of checkerboards,
	described by the position and the arrangement of their corners, in
	blurred and heavily distorted images. The method can be applied to
	both perspective and omnidirectional cameras. An existing corner
	detection method is evaluated and its strengths and shortcomings
	in detecting corners on blurred and distorted test image sets are
	analyzed. Starting from the results of this analysis, several improvements
	are proposed, implemented, and tested. We show that the proposed
	algorithm is able to consistently identify 80% of the corners on
	omnidirectional images of as low as VGA resolution and approaches
	100% correct corner extraction at higher resolutions, outperforming
	the existing implementation significantly. The performance of the
	proposed method is demonstrated on several test image sets of various
	resolution, distortion, and blur, which are exemplary for different
	kinds of camera-mirror setups in use.},
  doi = {10.1109/IROS.2008.4650703},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{rufli_siegwart_10,
  author = {Martin Rufli and Roland Siegwart},
  title = {On the Design of Deformable Input- / State-Lattice Graphs},
  booktitle = {Proceedings of the International Conference on Robotics and Automation},
  year = {2010},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INCOLLECTION{Rumelhart86b,
  author = {D. E. Rumelhart and G. E. Hinton and R. J. Williams},
  title = {Learning Internal Representations by Error Propagation},
  booktitle = {Parallel Distributed Processing},
  publisher = {The {MIT} Press},
  year = {1986},
  editor = {David E. Rumelhart and James L. McClelland},
  volume = {1},
  chapter = {8},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{RumelhartHinton86,
  author = {D. E. Rumelhart and G. E. Hinton and R. J. Williams},
  title = {Learning Internal Representations by Error Propagation},
  journal = {Nature},
  year = {1986},
  volume = {323},
  pages = {533-536},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INCOLLECTION{Rumelhart86,
  author = {D. E. Rumelhart and D. Zipser},
  title = {Feature Discovery by Competetive Learning},
  booktitle = {Parallel Distributed Processing},
  publisher = {The {MIT} Press},
  year = {1986},
  editor = {David E. Rumelhart and James L. McClelland},
  volume = {1},
  chapter = {5},
  pages = {151-193},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Rusu2009a,
  author = {Rusu, R. B. and Blodow, N. and Marton, Z. C. and Beetz, M. },
  title = {Close-range scene segmentation and reconstruction of 3D point cloud
	maps for mobile manipulation in domestic environments},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2009},
  year = {2009},
  pages = {1--6},
  abstract = {In this paper we present a framework for 3D geometric shape segmentation
	for close-range scenes used in mobile manipulation and grasping,
	out of sensed point cloud data. Our proposed approach proposes a
	robust geometric mapping pipeline for large input datasets that extracts
	relevant objects useful for a personal robotic assistant to perform
	manipulation tasks. The objects are segmented out from partial views
	and a reconstructed model is computed by fitting geometric primitive
	classes such as planes, spheres, cylinders, and cones. The geometric
	shape coefficients are then used to reconstruct missing data. Residual
	points are resampled and triangulated, to create smooth decoupled
	surfaces that can be manipulated. The resulted map is represented
	as a hybrid concept and is comprised of 3D shape coefficients and
	triangular meshes used for collision avoidance in manipulation routines.},
  doi = {10.1109/IROS.2009.5354683},
  keywords = {collision avoidance, computational geometry, image reconstruction,
	image segmentation, mesh generation, robot vision, 3D geometric shape
	segmentation, 3D point cloud maps, 3D shape coefficients, close-range
	scene reconstruction, close-range scene segmentation, collision avoidance,
	mobile manipulation, personal robotic assistant, robust geometric
	mapping pipeline, triangular meshes},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Rusu2009c,
  author = {Rusu, Radu Bogdan and Holzbach, Andreas and Diankov, Rosen and Bradski,
	Gary and Beetz, Michael},
  title = {Perception for mobile manipulation and grasping using active stereo},
  booktitle = {Proc. 9th IEEE-RAS International Conference on Humanoid Robots Humanoids
	2009},
  year = {2009},
  pages = {632--638},
  month = dec # { 7--10,},
  doi = {10.1109/ICHR.2009.5379597},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Rusu2009d,
  author = {Rusu, R. B. and Meeussen, W. and Chitta, S. and Beetz, M. },
  title = {Laser-based perception for door and handle identification},
  booktitle = {Proc. International Conference on Advanced Robotics ICAR 2009},
  year = {2009},
  pages = {1--8},
  month = jun # { 22--26,},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Rusu2009,
  author = {Rusu, R. B. and Sucan, I. A. and Gerkey, B. and Chitta, S. and Beetz,
	M. and Kavraki, L. E. },
  title = {Real-time perception-guided motion planning for a personal robot},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2009},
  year = {2009},
  pages = {4245--4252},
  abstract = {This paper presents significant steps towards the online integration
	of 3D perception and manipulation for personal robotics applications.
	We propose a modular and distributed architecture, which seamlessly
	integrates the creation of 3D maps for collision detection and semantic
	annotations, with a real-time motion replanning framework. To validate
	our system, we present results obtained during a comprehensive mobile
	manipulation scenario, which includes the fusion of the above components
	with a higher level executive.},
  doi = {10.1109/IROS.2009.5354396},
  keywords = {manipulators, path planning, manipulation, perception-guided motion
	planning, personal robot, personal robotics},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{S'anchez2007,
  author = {S\'{a}nchez, L. Abraham and Juarez, G. Roberto and Osorio, L. Maria
	A.},
  title = {On the performance of deterministic sampling in probabilistic roadmap
	planning},
  booktitle = {MICAI'07: Proceedings of the artificial intelligence 6th Mexican
	international conference on Advances in artificial intelligence},
  year = {2007},
  pages = {1089--1098},
  address = {Berlin, Heidelberg},
  publisher = {Springer-Verlag},
  abstract = {Probabilistic Roadmap approaches (PRMs) have been successfully applied
	in motion planning of robots with many degrees of freedom. In recent
	years, the community has proposed deterministic sampling as a way
	to improve the performance in these planners. However, our recent
	results show that the choice of the sampling source - pseudo-random
	or deterministic- has small impact on a PRM planner's performance.
	We used two single-query PRM planners for this comparative study.
	The advantage of the deterministic sampling on the pseudorandom sampling
	is only observable in low dimension problems. The results were surprising
	in the sense that deterministic sampling performed differently than
	claimed by the designers.},
  isbn = {3-540-76630-8, 978-3-540-76630-8},
  location = {Aguascalientes, Mexico},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@ARTICLE{Saha2005,
  author = {Saha, Mitul and Latombe, Jean-Claude and Chang, Yu-Chi and Prinz,
	Friedrich},
  title = {Finding Narrow Passages with Probabilistic Roadmaps: The Small-Step
	Retraction Method},
  journal = {Auton. Robots},
  year = {2005},
  volume = {19},
  pages = {301--319},
  number = {3},
  abstract = {Probabilistic Roadmaps (PRM) have been successfully used to plan complex
	robot motions in configuration spaces of small and large dimensionalities.
	However, their efficiency decreases dramatically in spaces with narrow
	passages. This paper presents a new method--small-step retraction--that
	helps PRM planners find paths through such passages. This method
	consists of slightly "fattening" robot's free space, constructing
	a roadmap in fattened free space, and finally repairing portions
	of this roadmap by retracting them out of collision into actual free
	space. Fattened free space is not explicitly computed. Instead, the
	geometric models of workspace objects (robot links and/or obstacles)
	are "thinned" around their medial axis. A robot configuration lies
	in fattened free space if the thinned objects do not collide at this
	configuration. Two repair strategies are proposed. The "optimist"
	strategy waits until a complete path has been found in fattened free
	space before repairing it. Instead, the "pessimist" strategy repairs
	the roadmap as it is being built. The former is usually very fast,
	but may fail in some pathological cases. The latter is more reliable,
	but not as fast. A simple combination of the two strategies yields
	an integrated planner that is both fast and reliable. This planner
	was implemented as an extension of a pre-existing single-query PRM
	planner. Comparative tests show that it is significantly faster (sometimes
	by several orders of magnitude) than the pre-existing planner.},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1007/s10514-005-4748-1},
  issn = {0929-5593},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.07.05}
}

@ARTICLE{Saha2006,
  author = {Saha, Mitul and Roughgarden, Tim and Latombe, Jean-Claude and S\'{a}nchez-Ante,
	Gildardo},
  title = {Planning Tours of Robotic Arms among Partitioned Goals},
  journal = {Int. J. Rob. Res.},
  year = {2006},
  volume = {25},
  pages = {207--223},
  number = {3},
  abstract = {In this paper we consider a motion planning problem that occurs in
	tasks such as spot welding, car painting, inspection, and measurement,
	where the end-effector of a robotic arm must reach successive goal
	placements given as inputs. The problem is to compute a nearoptimal
	path of the arm so that the end-effector visits each goal once. It
	combines two notoriously hard subproblems: the collisionfree shortest-path
	and the traveling-salesman problems. It is further complicated by
	the fact that each goal placement of the end-effector may be achieved
	by several configurations of the arm (distinct solutions of the arm's
	inverse kinematics). This leads to considering a set of goal configurations
	of the robot that are partitioned into groups. The planner must compute
	a robot path that visits one configuration in each group and is near
	optimal over all configurations in every goal group and over all
	group orderings. The algorithm described in this paper operates under
	the assumption that finding a good tour in a graph with edges of
	given costs takes much less time than computing good paths between
	all pairs of goal configurations from different groups. So, the algorithm
	balances the time spent in computing paths between goal configurations
	and the time spent in computing tours. Although the algorithm still
	computes a quadratic number of such paths in the worst case, experimental
	results show that it is much faster in practice.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364906061705},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{Sakka2002,
  author = {Sakka, S. and M'Sirdi, N. K. },
  title = {Reliable evolutionary-based command input generator for a simple
	mobile manipulation task},
  booktitle = {Proc. 11th IEEE International Workshop on Robot and Human Interactive
	Communication},
  year = {2002},
  pages = {362--367},
  month = sep # { 25--27,},
  doi = {10.1109/ROMAN.2002.1045649},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Sanan2006,
  author = {Sanan, S. and Santani, D. and Krishna, K. M. and Hexmoor, H. },
  title = {Extension of reeds and shepp paths to a robot with front and rear
	wheel steer},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2006},
  year = {2006},
  pages = {3730--3735},
  month = may,
  owner = {Mihail},
  timestamp = {2010.01.20}
}

@ARTICLE{sanchez_latombe_02,
  author = {Sanchez, G. and Latombe, J.-C.},
  title = {On delaying collision checking in PRM planning: Application to multi-robot
	coordination},
  journal = {International Journal of Robotics Research},
  year = {2002},
  volume = {21},
  pages = {5-26},
  number = {1},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{sanchez_latombe_01,
  author = {Sanchez, G. and Latombe, J.-C.},
  title = {A single-query bi-directional probabilistic roadmap planner with
	lazy collision checking},
  booktitle = {Proc. of International Symposium on Robotics Research},
  year = {2001},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{SatorresMart'inez2009,
  author = {Satorres Mart\'{\i}nez, S. and G\'{o}mez Ortega, J. and G\'{a}mez
	Garc\'{\i}a, J. and S\'{a}nchez Garc\'{\i}a, A.},
  title = {A sensor planning system for automated headlamp lens inspection},
  journal = {Expert Syst. Appl.},
  year = {2009},
  volume = {36},
  pages = {8768--8777},
  number = {5},
  abstract = {Usually, the automated systems for quality control based on computer
	vision have been centered on the design of algorithms for detecting
	different types of defects. Nevertheless, the issues related to planning
	suitable sensor poses for the inspection task have received less
	attention. In addition, the applications where a vision sensor can
	only sample a portion of a part from a single viewpoint, the sensor
	planning problem becomes critically important. This is the case of
	the automated inspection of vehicle headlamp lens, that due to its
	geometry and dimensions, requires multiple sensor poses to observe
	the whole part. Moreover, the customer requirements that define the
	maximum defect size should also be taken into account in the inspection
	process. This paper presents a vision sensor planning system applied
	to the quality control of headlamp lenses. The system uses the lens
	CAD, a vision sensor model and the customer requirements, included
	through a fuzzy approach, to achieve an optimal set of viewpoints.
	To compute the number and distribution of the viewpoints, a genetic
	algorithm is used. Experimental results demonstrate the effectiveness
	of the sensor planning system on commercial lenses.},
  address = {Tarrytown, NY, USA},
  doi = {http://dx.doi.org/10.1016/j.eswa.2008.11.044},
  issn = {0957-4174},
  owner = {Mihail},
  publisher = {Pergamon Press, Inc.},
  timestamp = {2010.03.03}
}

@INPROCEEDINGS{Savova01,
  author = {Savova, Virginia and Peshkin, Leonid},
  title = {How to Compare Common and Rare Words},
  booktitle = {Proceedings of the Fifth International Conf. on Cognitive and Neural
	Systems},
  year = {2001},
  address = {Boston, MA},
  __markedentry = {[mihail]},
  optmonth = {May},
  optorganization = {ICCNS},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Schaub2003,
  author = {Schaub, H. and Smith, C. E. },
  title = {Color snakes for dynamic lighting conditions on mobile manipulation
	platforms},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems (IROS 2003)},
  year = {2003},
  volume = {2},
  pages = {1272--1277 vol.2},
  abstract = {Statistical active contour models (aka statistical pressure snakes)
	have attractive properties for use in mobile manipulation platforms
	as both a method for use in visual servoing and as a natural component
	of a human-computer interface. Unfortunately, the constantly changing
	illumination expected in outdoor environments presents problems for
	statistical pressure snakes and for their image gradient-based predecessors.
	This paper introduces a new color-based variant of statistical pressure
	snakes that gives superior performance under dynamic lighting conditions
	and improves upon the previously published results of attempts to
	incorporate color imagery into active deformable models.},
  keywords = {image colour analysis, lighting, manipulators, mobile robots, robot
	vision, color imagery, color snakes, color-based variant, dynamic
	lighting conditions, human-computer interface, image gradient-based
	predecessors, mobile manipulation platforms, statistical active contour
	models, statistical pressure snakes, visual servoing},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Scheuer1997,
  author = {Scheuer, A. and Fraichard, Th. },
  title = {Continuous-curvature path planning for car-like vehicles},
  booktitle = {Proc. IEEE/RSJ Int Intelligent Robots and Systems IROS '97. Conf},
  year = {1997},
  volume = {2},
  pages = {997--1003},
  abstract = {We consider path planning for a car-like vehicle. Previous solutions
	to this problem computed paths made up of circular arcs connected
	by tangential line segments. Such paths have a discontinuous curvature
	profile. Accordingly a vehicle following such a path has to stop
	at each curvature discontinuity in order to re-orientate its front
	wheels. To remove this limitation, we add a continuous-curvature
	constraint to the problem at hand. In addition, we introduce a constraint
	on the curvature derivative, so as to reflect the fact that a car-like
	vehicle can only re-orientate its front wheels with a finite velocity.
	We propose an efficient solution to the problem at hand that relies
	upon the definition of a set of paths with continuous curvature and
	maximum curvature derivative. These paths contain at most eight pieces,
	each piece being either a line segment, a circular arc of maximum
	curvature, or a clothoid arc. They are called simple continuous curvature
	paths. They are used to design a local path planner. The experimental
	results are presented},
  doi = {10.1109/IROS.1997.655130},
  owner = {Mihail},
  timestamp = {2010.07.01}
}

@INPROCEEDINGS{Scheuer1997a,
  author = {Scheuer, A. and Fraichard, T. },
  title = {Collision-free and continuous-curvature path planning for car-like
	robots},
  booktitle = {Proc. Conf. IEEE Int Robotics and Automation},
  year = {1997},
  volume = {1},
  pages = {867--873},
  abstract = {This paper presents a set of paths, called bi-elementary paths. These
	paths are smooth and feasible for a car-like robot (i.e. their tangent
	direction is continuous and they respect a minimum turning radius
	constraint), and they can be followed by a real vehicle without stopping
	(i.e. they have a continuous curvature profile)-which is not the
	case of Dubins' curves. These paths are composed of arcs of a clothoid
	(a clothoid is a curve whose curvature is a linear function of its
	arc length), and are used to define a simplified, i.e. non-complete,
	planner. This simplified planner is, in turn, used in two global
	planning schemes, namely the Ariadne's Clew algorithm and probabilistic
	path planning. This paper proves an important property of the bi-elementary
	paths, from which the completeness of the two global planners is
	deduced},
  doi = {10.1109/ROBOT.1997.620143},
  owner = {Mihail},
  timestamp = {2010.07.01}
}

@INPROCEEDINGS{scheuer_fraichard_97,
  author = {Scheuer, A. and Fraichard, T.},
  title = {Collision-free and continuous-curvature path planning for car-like
	robots},
  booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
  year = {1997},
  pages = {867-873},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Scheuer1996,
  author = {Scheuer, A. and Fraichard, Th. },
  title = {Planning continuous-curvature paths for car-like robots},
  booktitle = {Proc. IEEE/RSJ Int Intelligent Robots and Systems '96, IROS 96 Conf},
  year = {1996},
  volume = {3},
  pages = {1304--1311},
  abstract = {This paper presents a continuous-curvature path planner (CCPP) for
	a car-like robot. Previous collision-free path planners for car-like
	robots compute paths made up of straight segments connected with
	tangential circular arcs. The curvature of this type of path is discontinuous
	so much so that if a car-like robot were to actually follow such
	a path, it would have to stop at each curvature discontinuity so
	as to reorient its front wheels. CCPP is one of the first planner
	to compute collision-free paths with continuous curvature profiles.
	These paths are made up of clothoid arcs, i.e. curves whose curvature
	is a linear function of their arc length. CCPP uses a general planning
	technique called the Ariadne's Clew algorithm. It is based upon two
	complementary functions: SEARCH and EXPLORE. EXPLORE builds an approximation
	of the region of the configuration space reachable from a start configuration
	by incrementally placing a set of reachable landmarks in the configuration
	space. SEARCH checks the existence of a solution path between a landmark
	newly placed and the goal configuration},
  doi = {10.1109/IROS.1996.568985},
  owner = {Mihail},
  timestamp = {2010.07.01}
}

@INPROCEEDINGS{scheuer_laugier_98,
  author = {Scheuer, A. and Laugier, Ch.},
  title = {Planning sub-optimal and continuous-curvature paths for car-like
	robots.},
  booktitle = {Proc. of the International Conference on Robotics and Automation},
  year = {1998}
}

@INPROCEEDINGS{schiele_pentland_iccv99,
  author = {Schiele, B. and Pentland, A. },
  title = {Probabilistic object recognition and localization},
  booktitle = {Proc. Seventh IEEE Int Computer Vision Conf. The},
  year = {1999},
  volume = {1},
  pages = {177--182},
  abstract = {Objects can be represented by regions of local structure as well as
	dependencies between these regions. The appearance of local structure
	can be characterized by a vector of local features measured by local
	operators such as Gaussian derivatives or Gabor filters. This paper
	presents a technique in which the appearance of objects is represented
	by the joint statistics of local neighborhood operators. A probabilistic
	technique based on joint statistics is developed for the identification
	of multiple objects at arbitrary positions and orientations. Furthermore,
	by incorporating structural dependencies, a procedure for probabilistic
	localization of objects is obtained. The current recognition system
	runs at approximately 10 Hz on a Silicon 02. Experimental results
	are provided and an application using a head mounted camera is described},
  doi = {10.1109/ICCV.1999.791215},
  owner = {mihail},
  timestamp = {2012.01.27}
}

@INPROCEEDINGS{,
  author = {Schiff, J. and Kulkarni, A. and Bazo, D. and Duindamx, V. and Alterovitz,
	R. and Dezhen Song and Goldberg, K. },
  title = {Actuator networks for navigating an unmonitored mobile robot},
  booktitle = {Proc. IEEE Int. Conf. Automation Science and Engineering CASE 2008},
  year = {2008},
  pages = {53--60},
  abstract = {Building on recent work in sensor-actuator networks and distributed
	manipulation, we consider the use of pure actuator networks for localization-free
	robotic navigation. We show how an actuator network can be used to
	guide an unobserved robot to a desired location in space and introduce
	an algorithm to calculate optimal actuation patterns for such a network.
	Sets of actuators are sequentially activated to induce a series of
	static potential fields that robustly drive the robot from a start
	to an end location under movement uncertainty. Our algorithm constructs
	a roadmap with probability-weighted edges based on motion uncertainty
	models and identifies an actuation pattern that maximizes the probability
	of successfully guiding the robot to its goal. Simulations of the
	algorithm show that an actuator network can robustly guide robots
	with various uncertainty models through a two-dimensional space.
	We experiment with additive Gaussian Cartesian motion uncertainty
	models and additive Gaussian polar models. Motion randomly chosen
	destinations within the convex hull of a 10-actuator network succeeds
	with with up to 93.4% probability. For n actuators, and m samples
	per transition edge in our roadmap, our runtime is O(mn<sup>6</sup>).},
  doi = {10.1109/COASE.2008.4626500},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@TECHREPORT{Schmidhuber94,
  author = {Juergen Schmidhuber},
  title = {On Learning How To Learn Learning Strategies},
  institution = {IDSIA},
  year = {1994},
  number = {FKI-198-94},
  address = {Lugano, Swiss},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/schmidhuber95learning.html}
}

@ARTICLE{Schmidhuber92,
  author = {Juergen Schmidhuber},
  title = {Learning Factorial Codes By Predictability Minimization},
  journal = nc,
  year = {1992},
  volume = {4},
  pages = {863-879},
  number = {6},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Schmidhuber96,
  author = {Juergen Schmidhuber and M. Eldracher and B. Foltin},
  title = {Semilinear predictability minimzation produces well-known feature
	detectors},
  journal = nc,
  year = {1996},
  volume = {8},
  pages = {773-786},
  number = {4},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Schmidhuber91,
  author = {Schmidhuber, Juergen and Huber, R.},
  title = {Learning to generate artificial fovea trajectories for target detection},
  journal = {International Journal of Neural Systems},
  year = {1991},
  volume = {2},
  pages = {135-141},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@TECHREPORT{Schmidhuber98,
  author = {Juergen Schmidhuber and Jieyu Zhao},
  title = {Direct Policy Search and Uncertain Policy Evaluation},
  institution = {IDSIA},
  year = {1998},
  number = {IDSIA-50-98},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/article/schmidhuber98direct.html}
}

@ARTICLE{Schmidhuber97,
  author = {Juergen Schmidhuber and Jieyu Zhao and Marco Wiering},
  title = {Shifting inductive bias with success-story algorithm, adaptive Levin
	search, and incremental self-improvement},
  journal = mlj,
  year = {1997},
  volume = {28},
  pages = {105-130},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Schneider99,
  author = {Schneider, Jeff and Wong, Weng-Keen and Moore, Andrew W. and Riedmiller,
	Martin},
  title = {Distributed Value Functions},
  booktitle = ml99,
  year = {1999},
  editor = {Bratko, I. and Dzeroski, S.},
  pages = {371-378},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  optaddress = {San Francisco, CA},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{scholz_etal_icra11,
  author = {Scholz, J. and Chitta, S. and Marthi, B. and Likhachev, M.},
  title = {Cart pushing with a mobile manipulation system: Towards navigation
	with moveable objects},
  booktitle = {Proc. IEEE Int Robotics and Automation},
  year = {2011},
  pages = {6115--6120},
  abstract = {Robust navigation in cluttered environments has been well addressed
	for mobile robotic platforms, but the problem of navigating with
	a moveable object like a cart has not been widely examined. In this
	work, we present a planning and control approach to navigation of
	a humanoid robot while pushing a cart. We show how immediate information
	about the environment can be integrated into this approach to achieve
	safer navigation in the presence of dynamic obstacles. We demonstrate
	the robustness of our approach through long-running experiments with
	the PR2 mobile manipulation robot in a typical indoor office environment,
	where the robot faced narrow and high-traffic passageways with very
	limited clearance.},
  doi = {10.1109/ICRA.2011.5980288},
  owner = {mihail},
  timestamp = {2012.01.13}
}

@ARTICLE{Schultz98,
  author = {Wolfram Schultz},
  title = {Predictive reward signal of dopamine neurons},
  journal = {Journal of neurophysiology},
  year = {1998},
  volume = {80},
  pages = {1--27},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Schultz97,
  author = {Wolfram Schultz and Peter Dayan and P. Montague},
  title = {A Neural Substrate of Prediction and Reward},
  journal = {Science},
  year = {1997},
  volume = {275},
  pages = {1593--1599},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Scott2008,
  author = {Scott, Nathan O. and Dueck, Gerhard W.},
  title = {Pairwise decomposition of toffoli gates in a quantum circuit},
  booktitle = {GLSVLSI '08: Proceedings of the 18th ACM Great Lakes symposium on
	VLSI},
  year = {2008},
  pages = {231--236},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {Quantum circuit synthesis is the procedure of automatically generating
	quantum circuits to represent specified functions. A common gate
	in quantum circuits is the reversible Toffoli gate, a type of generalized
	controlled NOT operation. There are physical barriers to implementing
	large quantum gates. Large Toffoli gates can be decomposed into equivalent
	sets of smaller, quantum elementary gates. The cost of a quantum
	circuit can be measured by counting the number of elementary gates
	in the circuit after all gates have been decomposed. Traditionally
	this decomposition is done independently for each gate in the circuit.
	This thesis identifies pairs of gates that, if decomposed together,
	result in fewer total elementary gates than they would otherwise.
	These improvements are incorporated into a simple decomposition algorithm
	which manipulates the circuit in order to search for such pairs.
	The decomposition algorithm is compared to a naive implementation,
	and the resulting gate costs are presented and compared.},
  doi = {http://doi.acm.org/10.1145/1366110.1366168},
  isbn = {978-1-59593-999-9},
  location = {Orlando, Florida, USA},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@ARTICLE{Scott2003,
  author = {Scott, William R. and Roth, Gerhard and Rivest, Jean-Fran\c{c}ois},
  title = {View planning for automated three-dimensional object reconstruction
	and inspection},
  journal = {ACM Comput. Surv.},
  year = {2003},
  volume = {35},
  pages = {64--96},
  number = {1},
  abstract = {Laser scanning range sensors are widely used for high-precision, high-density
	three-dimensional (3D) reconstruction and inspection of the surface
	of physical objects. The process typically involves planning a set
	of views, physically altering the relative object-sensor pose, taking
	scans, registering the acquired geometric data in a common coordinate
	frame of reference, and finally integrating range images into a nonredundant
	model. Efficiencies could be achieved by automating or semiautomating
	this process. While challenges remain, there are adequate solutions
	to semiautomate the scan-register-integrate tasks. On the other hand,
	view planning remains an open problem---that is, the task of finding
	a suitably small set of sensor poses and configurations for specified
	reconstruction or inspection goals. This paper surveys and compares
	view planning techniques for automated 3D object reconstruction and
	inspection by means of active, triangulation-based range sensors.},
  address = {New York, NY, USA},
  doi = {http://doi.acm.org/10.1145/641865.641868},
  issn = {0360-0300},
  owner = {Mihail},
  publisher = {ACM},
  timestamp = {2010.03.03}
}

@ARTICLE{sekhavat_etal.ijrr98,
  author = {S. Sekhavat and P. Svestka and J.-P. Laumond and M. Overmars},
  title = {Multi-level path planning for nonholonomic robots using semiholonomic
	subsystems},
  journal = ijrr,
  year = {1998},
  volume = {17},
  pages = {840-857},
  owner = {mihail},
  timestamp = {2012.03.10}
}

@ARTICLE{seraji_ijrr98,
  author = {Homayoun Seraji},
  title = {A Unified Approach to Motion Control of Mobile Manipulators},
  journal = {International Journal of Robotics Research},
  year = {1998},
  volume = {17},
  pages = {107Â–118},
  number = {2},
  owner = {Mihail},
  timestamp = {2010.03.09}
}

@INPROCEEDINGS{Shafer1986,
  author = {Shafer, S. and Stentz, A. and Thorpe, C. },
  title = {An architecture for sensor fusion in a mobile robot},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1986},
  volume = {3},
  pages = {2002--2011},
  month = apr,
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Shaffer1992a,
  author = {Shaffer, G. and Stentz, A. },
  title = {A robotic system for underground coal mining},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1992},
  pages = {633--638},
  month = may # { 12--14,},
  doi = {10.1109/ROBOT.1992.220221},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{Shaffer1992,
  author = {Shaffer, G. K. and Stentz, A. and Whittaker, W. L. and Fitzpatrick,
	K. W. },
  title = {Position estimator for underground mine equipment},
  journal = {IEEE Transactions on Industry Applications},
  year = {1992},
  volume = {28},
  pages = {1131--1140},
  number = {5},
  month = sep,
  doi = {10.1109/28.158839},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Shelton01,
  author = {Christian R. Shelton},
  title = {Policy Improvement for {POMDPs} Using Normalized Importance Sampling},
  booktitle = uai01,
  year = {2001},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  optnote = {to appear},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@PHDTHESIS{SheltonPhD,
  author = {Christian R. Shelton},
  title = {Importance Sampling for Reinforcement Learning with Multiple Objectives},
  school = {MIT},
  year = {2001},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{shiller_etal_04,
  author = {Shiller, Z., Fujita, Y., Ophir, D. and Nakamura, Y.},
  title = {Computing a set of local optimal paths through cluttered environments
	and over open terrain},
  booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
  year = {2004},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{shin_etal_iros03,
  author = {Dong Hun Shin and Bradley S. Hamner and Sanjiv Singh and Myung Hwangbo},
  title = {Motion Planning for a Mobile Manipulator with Imprecise Locomotion},
  booktitle = {IROS},
  year = {2003},
  owner = {Mihail},
  timestamp = {2010.03.08}
}

@ARTICLE{Shtarkov87,
  author = {Yuri M. Shtarkov},
  title = {Universal sequential coding of single measures},
  journal = {Problems of Information Transmission},
  year = {1987},
  pages = {175--185},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Shvalb2007,
  author = {Shvalb, N. and Shoham, M. and Liu, G. and Trinkle, J.C.},
  title = {Motion Planning for a Class of Planar Closed-chain Manipulators},
  journal = {Int. J. Rob. Res.},
  year = {2007},
  volume = {26},
  pages = {457--473},
  number = {5},
  abstract = {The paper reports studies on the motion planning problem for planar
	star-shaped manipulators. These manipulators are formed by joining
	k &#x201C;legs&#x201D; to a common point (like the thorax of an insect)
	and then fixing the &#x201C;feet&#x201D; to the ground. The result
	is a planar parallel manipulator with k - 1 independent closed loops.
	A topological analysis is used to understand the global structure
	of the configuration space so that the planning problem can be solved
	exactly. The worst-case complexity of the algorithm is O(k3 N 3),
	where N is the maximum number of links in a leg. Examples illustrating
	the method are given.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364907078094},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.07.05}
}

@ARTICLE{Sibai2007,
  author = {Sibai, Fadi N.},
  title = {Performance analysis and workload characterization of the 3DMark05
	benchmark on modern parallel computer platforms},
  journal = {SIGARCH Comput. Archit. News},
  year = {2007},
  volume = {35},
  pages = {44--52},
  number = {3},
  address = {New York, NY, USA},
  doi = {http://doi.acm.org/10.1145/1294313.1294315},
  issn = {0163-5964},
  owner = {Mihail},
  publisher = {ACM},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Silva2008,
  author = {da Silva, Marco and Abe, Yeuhi and Popovi\'{c}, Jovan},
  title = {Interactive simulation of stylized human locomotion},
  booktitle = {SIGGRAPH '08: ACM SIGGRAPH 2008 papers},
  year = {2008},
  pages = {1--10},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {Animating natural human motion in dynamic environments is difficult
	because of complex geometric and physical interactions. Simulation
	provides an automatic solution to parts of this problem, but it needs
	control systems to produce lifelike motions. This paper describes
	the systematic computation of controllers that can reproduce a range
	of locomotion styles in interactive simulations. Given a reference
	motion that describes the desired style, a derived control system
	can reproduce that style in simulation and in new environments. Because
	it produces high-quality motions that are both geometrically and
	physically consistent with simulated surroundings, interactive animation
	systems could begin to use this approach along with more established
	kinematic methods.},
  doi = {http://doi.acm.org/10.1145/1399504.1360681},
  isbn = {978-1-4503-0112-1},
  location = {Los Angeles, California},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Silva2009,
  author = {da Silva, Marco and Durand, Fr\'{e}do and Popovi\'{c}, Jovan},
  title = {Linear Bellman combination for control of character animation},
  booktitle = {SIGGRAPH '09: ACM SIGGRAPH 2009 papers},
  year = {2009},
  pages = {1--10},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {Controllers are necessary for physically-based synthesis of character
	animation. However, creating controllers requires either manual tuning
	or expensive computer optimization. We introduce linear Bellman combination
	as a method for reusing existing controllers. Given a set of controllers
	for related tasks, this combination creates a controller that performs
	a new task. It naturally weights the contribution of each component
	controller by its relevance to the current state and goal of the
	system. We demonstrate that linear Bellman combination outperforms
	naive combination often succeeding where naive combination fails.
	Furthermore, this combination is provably optimal for a new task
	if the component controllers are also optimal for related tasks.
	We demonstrate the applicability of linear Bellman combination to
	interactive character control of stepping motions and acrobatic maneuvers.},
  doi = {http://doi.acm.org/10.1145/1576246.1531388},
  isbn = {978-1-60558-726-4},
  location = {New Orleans, Louisiana},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Silver2004,
  author = {Silver, D. and Ferguson, D. and Morris, A. and Thayer, S. },
  title = {Feature extraction for topological mine maps},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems (IROS 2004)},
  year = {2004},
  volume = {1},
  pages = {773--779 vol.1},
  abstract = {We present a robust method for detecting and recognizing topological
	features in underground mines. Our method involves performing Delaunay
	triangulations on range scans to extract points of interest, such
	as intersecting corridors. By combining these interest points into
	a topological map, we have a valuable tool for navigation and localization
	in large scale, highly cyclic environments. We present results from
	a research coal mine near Pittsburgh, PA.},
  doi = {10.1109/IROS.2004.1389446},
  keywords = {computerised navigation, feature extraction, mesh generation, mining,
	mobile robots, topology, Delaunay triangulations, Pittsburgh, Pennsylvania,
	coal mine, feature extraction, intersecting corridors, topological
	mine maps, underground mines},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Silver2006,
  author = {Silver, D. and Sofman, B. and Vandapel, N. and Bagnell, J. A. and
	Stentz, A. },
  title = {Experimental Analysis of Overhead Data Processing To Support Long
	Range Navigation},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems},
  year = {2006},
  pages = {2443--2450},
  month = oct # { 9--15,},
  doi = {10.1109/IROS.2006.281686},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{simmons_etal_iros95,
  author = {Reid Simmons and Eric Krotkov and Lonnie Chrisman and Fabio Cozman
	and Richard Goodwin and Martial Hebert and Lalitesh Katragadlda and
	Sven Koenig and Gita Krishnaswamy and Yoshikazu Shinoda and William
	Whittaker and Paul Klarer},
  title = {Experience with Rover Navigation for Lunar-Like Terrains},
  booktitle = {IROS},
  year = {1995},
  owner = {Mihail},
  timestamp = {2010.04.26}
}

@BOOK{Simon96,
  title = {The Sciences of the Artificial},
  publisher = {The {MIT} Press},
  year = {1996},
  author = {Herbert A. Simon},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Singh2000,
  author = {Singh, S. and Simmons, R. and Smith, T. and Stentz, A. and Verma,
	V. and Yahja, A. and Schwehr, K. },
  title = {Recent progress in local and global traversability for planetary
	rovers},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'00},
  year = {2000},
  volume = {2},
  pages = {1194--1200},
  month = apr # { 24--28,},
  doi = {10.1109/ROBOT.2000.844761},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{SinghNIPS97,
  author = {Singh, Satinder P. and Bertsekas, Dimitri P.},
  title = {Reinforcement learning for dynamic channel allocation in cellular
	telephone systems},
  booktitle = nips,
  year = {1997},
  volume = {10},
  pages = {974--980},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {http://citeseer.nj.nec.com/27158.html}
}

@INPROCEEDINGS{Singh94,
  author = {Satinder P. Singh and Tommi Jaakkola and Michael I. Jordan},
  title = {Model-Free Reinforcement Learning for Non-{M}arkovian decision problems},
  booktitle = ml94,
  year = {1994},
  pages = {284--292},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  optaddress = {San Francisco, CA},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{SinghICML94,
  author = {Satinder P. Singh and Tommi Jaakkola and Michael I. Jordan},
  title = {Learning without state-estimation in partially observable {Markovian}
	decision processes},
  booktitle = ml94,
  year = {1994},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Singh00,
  author = {Satinder P. Singh and Tommi Jaakkola and Michael L. Littman and Csaba
	Szepesvari},
  title = {Convergence Results for Single-Step On-Policy Reinforcement-Learning
	Algorithms},
  journal = mlj,
  year = {2000},
  volume = {38},
  pages = {287-290},
  number = {3},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Skinner38,
  title = {The behavior of organisms},
  publisher = {Appleton-Century-Crofts},
  year = {1938},
  author = {B. Skinner},
  address = {New York, NY},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{sloan_joe_94,
  title = {Lattice Methods for Multiple Integration},
  publisher = {Clarendon Press},
  year = {1994},
  author = {I.H. Sloan and S. Joe},
  owner = {mihail},
  timestamp = {2012.01.15}
}

@ARTICLE{Smallwood73,
  author = {Richard D. Smallwood and Edward J. Sondik},
  title = {The Optimal Control of Partially Observable {Markov} Processes over
	a Finite Horizon},
  journal = or,
  year = {1973},
  volume = {21},
  pages = {1071-1088},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Soderland99,
  author = {Stephen Soderland},
  title = {Learning Information Extraction Rules for Semi-Structured and Free
	Text},
  journal = mlj,
  year = {1999},
  volume = {34},
  pages = {233-272},
  number = {1-3},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/soderland99learning.html}
}

@ARTICLE{Sondik78,
  author = {Edward J. Sondik},
  title = {The Optimal Control of Partially Observable {Markov} Processes over
	the Infinite Horizon: {D}iscounted Costs},
  journal = or,
  year = {1978},
  volume = {26},
  pages = {282-304},
  number = {2},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@PHDTHESIS{SondikPhD,
  author = {Edward J. Sondik},
  title = {The Optimal Control of Partially Observable {Markov} Processes},
  school = {Stanford University},
  year = {1971},
  address = {Stanford, CA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Song2001,
  author = {Song, Guang and Amato, Nancy M.},
  title = {Using motion planning to study protein folding pathways},
  booktitle = {RECOMB '01: Proceedings of the fifth annual international conference
	on Computational biology},
  year = {2001},
  pages = {287--296},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {We present a framework for studying protein folding pathways and potential
	landscapes which is based on techniques recently developed in the
	robotics motion planning community. In particular, our work uses
	Probabilistic Roadmap (PRM) motion planning techniques which have
	proven to be very successful for problems involving high-dimensional
	configuration spaces. Our results applying PRM techniques to several
	small proteins (60 residues) are very encouraging. The framework
	enables one to easily and efficiently compute folding pathways from
	any denatured starting state to the native fold. This aspect makes
	our approach ideal for studying global properties of the protein's
	potential landscape. For example, our results show that folding pathways
	from different starting denatured states sometimes share some common
	`gullies', mainly when they are close to the native fold. Such global
	issues are difficult to simulate and study with other methods.},
  doi = {http://doi.acm.org/10.1145/369133.369239},
  isbn = {1-58113-353-7},
  location = {Montreal, Quebec, Canada},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{Song1999,
  author = {Kai-Tai Song and Tian-Zeng Wu},
  title = {Visual servo control of a mobile manipulator using one-dimensional
	windows},
  booktitle = {Proc. 25th Annual Conference of the IEEE Industrial Electronics Society
	IECON '99},
  year = {1999},
  volume = {2},
  pages = {686--691},
  month = nov # { 29--} # dec # { 3,},
  doi = {10.1109/IECON.1999.816484},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@ARTICLE{sonneborn_vanvleck_65,
  author = {L.M. Sonneborn and F.S. Van Vleck},
  title = {The Bang-Bang Principle for Linear Control Systems},
  journal = {J. Soc. Indus. and Appl. Math.},
  year = {1965},
  volume = {2},
  pages = {151-159},
  number = {2},
  owner = {mihail},
  timestamp = {2012.01.22}
}

@INPROCEEDINGS{sordalen_icra93,
  author = {Sordalen, O. J. },
  title = {Conversion of the kinematics of a car with n trailers into a chained
	form},
  booktitle = {Proc. Conf. IEEE Int Robotics and Automation},
  year = {1993},
  pages = {382--387},
  abstract = {The authors propose a set of coordinates for the kinematics model
	of a car with <e1>n</e1> trailers with only two degrees of freedom.
	The absolute position of the system is given by the location of the
	rear trailer. By using these coordinates, the kinematic model is
	locally converted into a nilpotent, chained form. Control strategies
	for chained systems can be applied to locally control a car with
	<e1>n</e1> trailers},
  doi = {10.1109/ROBOT.1993.292011},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INBOOK{soueres_boissonnat_98,
  chapter = {Optimal Trajectories for Nonholonomic Mobile Robots},
  pages = {93-169},
  title = {Robot Motion Planning and Control},
  publisher = {Springer},
  year = {1998},
  author = {P. Soueres and J.D. Boissonnat},
  owner = {mihail},
  timestamp = {2012.01.14}
}

@ARTICLE{Spanier79,
  author = {Jerome Spanier},
  title = {A New Family of Estimators for Random Walk Problems},
  journal = jima,
  year = {1979},
  volume = {23},
  pages = {1-31},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Spanier71,
  author = {Jerome Spanier},
  title = {A New Multistage Procedure for Systematic Variance Reduction in {M}onte
	{C}arlo},
  journal = SIAM-J-Num-Anal,
  year = {1971},
  volume = {8},
  pages = {548--554},
  number = {3},
  __markedentry = {[mihail]},
  issn = {0036-1429 (print), 1095-7170 (electronic)},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{spanier94,
  author = {J. Spanier and E. Maize},
  title = {Quasi-random methods for estimating integrals using relatively small
	samples},
  year = {1994},
  volume = {36},
  pages = {18--44},
  __markedentry = {[mihail]},
  owner = {mihail},
  text = {#siam-r#},
  timestamp = {2011.03.21}
}

@ARTICLE{Spanier94,
  author = {Jerome Spanier and Earl H. Maize},
  title = {Quasi-Random Methods for Estimating Integrals Using Relatively Small
	Samples},
  journal = siam-r,
  year = {1994},
  volume = {36},
  pages = {18--44},
  number = {1},
  month = mar,
  __markedentry = {[mihail]},
  abstract = {Much of the recent work dealing with quasi-random methods has been
	aimed at establishing the best possible asymptotic rates of convergence
	to zero of the error resulting when a finite-dimensional integral
	is replaced by a finite sum of integrand values. In contrast with
	this perspective to concentrate on asymptotic convergence rates,
	this paper emphasizes quasi-random methods that are effective for
	all sample sizes. Throughout the paper, the problem of estimating
	finite-dimensional integrals is used to illustrate the major ideas,
	although much of what is done applies equally to the problem of solving
	certain Fredholm integral equations. Some new techniques, based on
	error-reducing transformations of the integrand, are described that
	have been shown to be useful both in estimating high-dimensional
	integrals and in solving integral equations. These techniques illustrate
	the utility of carrying over to the quasi-Monte Carlo method certain
	devices that have proven to be very valuable in statistical (pseudorandom)
	Monte Carlo applications.},
  acknowledgement = {#ack-nhfb#},
  affiliation = {Claremont Graduate Sch},
  affiliationaddress = {Claremont, CA, USA},
  bibdate = {Fri Dec 4 21:36:27 MST 1998},
  bibsource = {Compendex database; http://epubs.siam.org/sam-bin/dbq/toc/SIREV/36/1;
	http://www.siam.org/journals/sirev/sirev361.htm},
  classification = {921; 922.1},
  coden = {SIREAD},
  issn = {0036-1445 (print), 1095-7200 (electronic)},
  journalabr = {SIAM Rev},
  keywords = {Asymptotic rate of convergence; Fredholm integral equations; Integral
	equations; Integral estimation quasi-random methods; Monte Carlo
	methods; Statistical methods},
  mrclass = {65C05 (65C20 65D30)},
  mrnumber = {95b:65013},
  mrreviewer = {Michael J. Evans},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {http://epubs.siam.org/22673.htm}
}

@INPROCEEDINGS{stentz_95,
  author = {A. Stentz},
  title = {The Focussed {D}* Algorithm for Real-Time Replanning},
  booktitle = {International Joint Conferences on Artificial Intelligence},
  year = {1995},
  month = {August},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{stentz_ijcai95,
  author = {Anthony Stentz},
  title = {The Focussed {D}* Algorithm for Real-Time Replanning},
  booktitle = {Proceedings of the Fourteenth International Joint Conference on Artificial
	Intelligence},
  year = {1995},
  month = {August},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Stentz1994a,
  author = {Stentz, A. },
  title = {Optimal and efficient path planning for partially-known environments},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1994},
  pages = {3310--3317},
  month = may # { 8--13,},
  doi = {10.1109/ROBOT.1994.351061},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@TECHREPORT{Stentz94,
  author = {Anthony Stentz},
  title = {D* Algorithm for Real-Time Planning of Optimal Traverses},
  institution = {Robotics Institute, Carnegie Mellon University},
  year = {1994},
  number = {CMU-RI-TR-94-37},
  address = {Pittsburgh, PA},
  month = {October}
}

@INPROCEEDINGS{Stentz1998,
  author = {Stentz, A. and Bares, J. and Singh, S. and Rowe, P. },
  title = {A robotic excavator for autonomous truck loading},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems},
  year = {1998},
  volume = {3},
  pages = {1885--1893},
  month = oct # { 13--17,},
  doi = {10.1109/IROS.1998.724871},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Stentz1995,
  author = {Stentz, A. and Hebert, M. },
  title = {A complete navigation system for goal acquisition in unknown environments},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems 95. 'Human Robot Interaction and Cooperative Robots'},
  year = {1995},
  editor = {rd},
  volume = {1},
  pages = {425--432},
  month = aug # { 5--9,},
  doi = {10.1109/IROS.1995.525831},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{stentz_hebert_ar95,
  author = {A. Stentz and M. Hebert},
  title = {A complete navigation system for goal acquisition in unknown environments},
  journal = {Autonomous Robots},
  year = {1995},
  volume = {2},
  pages = {127-145},
  number = {2},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Stentz1985,
  author = {Stentz, A. and Thorpe, C.},
  title = {An architecture for autonomous vehicle navigation},
  booktitle = {Proc. 4th International Symposium on Unmanned Untethered Submersible
	Technology},
  year = {1985},
  volume = {4},
  pages = {272--283},
  month = jun,
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Stentz1997,
  author = {Stentz, A. J. },
  title = {Progress on Raman amplifiers},
  booktitle = {Proc. Conference on Optical Fiber Communication. OFC 97},
  year = {1997},
  pages = {343},
  month = feb # { 16--21,},
  doi = {10.1109/OFC.1997.719948},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Stentz1996a,
  author = {Stentz, A. J. },
  title = {The revival of Raman amplifiers},
  booktitle = {Proc. IEEE Lasers and Electro-Optics Society Annual Meeting LEOS
	96},
  year = {1996},
  volume = {1},
  pages = {296--297},
  month = nov # { 18--19,},
  doi = {10.1109/LEOS.1996.565249},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{Stentz1994,
  author = {Stentz, A. J. and Boyd, R. W. },
  title = {Figure-eight fibre laser with largely unbalanced central coupler},
  journal = {Electronics Letters},
  year = {1994},
  volume = {30},
  pages = {1302--1303},
  number = {16},
  month = aug # { 4,},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Stentz1996,
  author = {Stentz, A. J. and Grubb, S. G. and Headley, C. E. , III and Simpson,
	J. R. and Strasser, T. and Park, N. },
  title = {Raman amplifier with improved system performance},
  booktitle = {Proc. Optical Fiber Communications OFC '96},
  year = {1996},
  pages = {16--17},
  month = feb # { 25--} # mar # { 1,},
  doi = {10.1109/OFC.1996.907601},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Stentz1989,
  author = {Stentz, A. J. and Thorpe, C. E. },
  title = {Against Complex Architectures},
  booktitle = {Proc. 6th International Symposium on Unmanned Untethered Submersible
	Technology},
  year = {1989},
  pages = {308--311},
  month = jun,
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{Stentz2000,
  author = {Stentz, D. and Blair, S. and Goater, C. and Feller, S. and Affatigato,
	M. },
  title = {Determination of the mesostructure of lead borate glasses using laser
	photoionization mass spectroscopy},
  journal = {Applied Physics Letters},
  year = {2000},
  volume = {76},
  pages = {61--63},
  number = {1},
  month = jan,
  doi = {10.1063/1.125656},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Stilman2008,
  author = {Stilman, M. and Nishiwaki, K. and Kagami, S. },
  title = {Humanoid teleoperation for whole body manipulation},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2008},
  year = {2008},
  pages = {3175--3180},
  month = may # { 19--23,},
  doi = {10.1109/ROBOT.2008.4543694},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{stilman_etal_icra07,
  author = {M. Stilman and J. Schamburek and J. Kuffner and T. Asfour},
  title = {Manipulation Planning Among Movable Obstacles},
  booktitle = {ICRA},
  year = {2007},
  owner = {Mihail},
  timestamp = {2010.03.10}
}

@INPROCEEDINGS{StrensICML01,
  author = {Malcolm Strens and Andrew W. Moore},
  title = {Direct Policy Search using Paired Statistical Tests},
  booktitle = ml01,
  year = {2001},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/449424.html}
}

@INPROCEEDINGS{Stulp2009,
  author = {Stulp, F. and Fedrizzi, A. and Beetz, M. },
  title = {Action-related place-based mobile manipulation},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2009},
  year = {2009},
  pages = {3115--3120},
  abstract = {In mobile manipulation, the position to which the robot navigates
	has a large influence on the ease with which a subsequent manipulation
	action can be performed. Whether a manipulation action succeeds depends
	on many factors, such as the robot's hardware configuration, the
	controllers the robot uses to achieve navigation and manipulation,
	the task context, and uncertainties in state estimation. In this
	paper, we present `ARPLACE', an action-related place which takes
	these factors, and the context in which the actions are performed
	into account. Through experience-based learning, the robot first
	learns a so-called generalized success model, which discerns between
	positions from which manipulation succeeds or fails. On-line, this
	model is used to compute a ARPLACE, a probability distribution that
	maps positions to a predicted probability of successful manipulation,
	and takes the uncertainty in the robot and object's position into
	account. In an empirical evaluation, we demonstrate that using ARPLACEs
	for least-commitment navigation improves the success rate of subsequent
	manipulation tasks substantially.},
  doi = {10.1109/IROS.2009.5354281},
  keywords = {learning (artificial intelligence), manipulators, state estimation,
	action related place based mobile manipulation, empirical evaluation,
	experience based learning, generalized success model, least commitment
	navigation, probability distribution, robot controllers, robot hardware
	configuration, robot navigation, state estimation uncertainties,
	task context},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Stulp2009a,
  author = {Stulp, F. and Fedrizzi, A. and Beetz, M. },
  title = {Learning and performing place-based mobile manipulation},
  booktitle = {Proc. IEEE 8th International Conference on Development and Learning
	ICDL 2009},
  year = {2009},
  pages = {1--7},
  abstract = {What it means for an object to be dasiawithin reachpsila depends very
	much on the morphology and skills of a robot. In this paper, we enable
	a mobile manipulation robot to learn a concept of PLACE from which
	successful manipulation is possible through trial-and-error interaction
	with the environment. Due to this developmental approach, PLACE is
	very much grounded in observed experience, and takes the hardware
	and skills of the robot into account. During task-execution, this
	model is used to determine optimal grasp places in a least-commitment
	approach. This PLACE takes into account uncertainties in both robot
	and target object positions, and leads to more robust behavior.},
  doi = {10.1109/DEVLRN.2009.5175510},
  keywords = {learning (artificial intelligence), manipulators, mobile robots, position
	control, PLACE, least-commitment approach, place-based mobile manipulation
	robot, robot positions, target object positions, trial-and-error
	interaction},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Stulp2009d,
  author = {Stulp, Freek and Fedrizzi, Andreas and Zacharias, Franziska and Tenorth,
	Moritz and Bandouch, Jan and Beetz, Michael},
  title = {Combining analysis, imitation, and experience-based learning to acquire
	a concept of reachability in robot mobile manipulation},
  booktitle = {Proc. 9th IEEE-RAS International Conference on Humanoid Robots Humanoids
	2009},
  year = {2009},
  pages = {161--167},
  month = dec # { 7--10,},
  doi = {10.1109/ICHR.2009.5379584},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{,
  author = {Stulp, Freek and Theodorou, Evangelos and Kalakrishnan, Mrinal and
	Pastor, Peter and Righetti, Ludovic and Schaal, Stefan},
  title = {Learning motion primitive goals for robust manipulation},
  booktitle = {Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf},
  year = {2011},
  pages = {325--331},
  abstract = {Applying model-free reinforcement learning to manipulation remains
	challenging for several reasons. First, manipulation involves physical
	contact, which causes discontinuous cost functions. Second, in manipulation,
	the end-point of the movement must be chosen carefully, as it represents
	a grasp which must be adapted to the pose and shape of the object.
	Finally, there is uncertainty in the object pose, and even the most
	carefully planned movement may fail if the object is not at the expected
	position. To address these challenges we 1) present a simplified,
	computationally more efficient version of our model-free reinforcement
	learning algorithm PI<sup>2</sup>; 2) extend PI<sup>2</sup> so that
	it simultaneously learns shape parameters and goal parameters of
	motion primitives; 3) use shape and goal learning to acquire motion
	primitives that are robust to object pose uncertainty. We evaluate
	these contributions on a manipulation platform consisting of a 7-DOF
	arm with a 4-DOF hand.},
  doi = {10.1109/IROS.2011.6094877},
  owner = {mihail},
  timestamp = {2012.01.03}
}

@INPROCEEDINGS{Subramanian97,
  author = {Devika Subramanian and Peter Druschel and Johnny Chen},
  title = {Ants and Reinforcement Learning: A Case Study in Routing in Dynamic
	Networks},
  booktitle = ijcai97,
  year = {1997},
  pages = {832-839},
  __markedentry = {[mihail]},
  optvolume = {2},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/135268.html}
}

@INPROCEEDINGS{Sucan2009,
  author = {Sucan, I. A. and Kavraki, L. E. },
  title = {On the performance of random linear projections for sampling-based
	motion planning},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2009},
  year = {2009},
  pages = {2434--2439},
  abstract = {Sampling-based motion planners are often used to solve very high-dimensional
	planning problems. Many recent algorithms use projections of the
	state space to estimate properties such as coverage, as it is impractical
	to compute and store this information in the original space. Such
	estimates help motion planners determine the regions of space that
	merit further exploration. In general, the employed projections are
	user-defined, and to the authors' knowledge, automatically computing
	them has not yet been investigated. In this work, the feasibility
	of offline-computed random linear projections is evaluated within
	the context of a state-of-the art sampling-based motion planning
	algorithm. For systems with moderate dimension, random linear projections
	seem to outperform human intuition. For more complex systems it is
	likely that non-linear projections would be better suited.},
  doi = {10.1109/IROS.2009.5354403},
  keywords = {mobile robots, path planning, sampling methods, random linear projections,
	sampling-based motion planning},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Sucan2008,
  author = {Sucan, I. A. and Kruse, J. F. and Yim, M. and Kavraki, L. E. },
  title = {Kinodynamic motion planning with hardware demonstrations},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2008},
  year = {2008},
  pages = {1661--1666},
  abstract = {This paper provides proof-of-concept that state-of-the-art sampling-based
	motion planners that are tightly integrated with a physics-based
	simulator can compute paths that can be executed by a physical robotic
	system. Such a goal has been the subject of intensive research during
	the last few years and reflects the desire of the motion planning
	community to produce paths that are directly relevant to realistic
	mechanical systems and do not need a huge post-processing step in
	order to be executed on a robotic platform. To evaluate this approach,
	a recently developed motion planner is used to compute paths for
	a modular robot constructed from seven modules. These paths are then
	executed on hardware and compared with the paths predicted by the
	planner. For the system considered, the planner prediction and the
	paths achieved by the physical robot match, up to small errors. This
	work reveals the potential of modern motion planning research and
	its implications in the design and operation of complex robotic platforms.},
  doi = {10.1109/IROS.2008.4650914},
  keywords = {mobile robots, path planning, robot dynamics, robot kinematics, sampling
	methods, hardware demonstration, kinodynamic sampling-based motion
	planning, mechanical system, physical robotic system, physics-based
	simulator, proof-of-concept},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@ARTICLE{Sujan2005,
  author = {Sujan, Vivek A. and Dubowsky, Steven},
  title = {Visually Guided Cooperative Robot Actions Based on Information Quality},
  journal = {Auton. Robots},
  year = {2005},
  volume = {19},
  pages = {89--110},
  number = {1},
  abstract = {In field environments it is not usually possible to provide robots
	in advance with valid geometric models of its environment and task
	element locations. The robot or robot teams need to create and use
	these models to locate critical task elements by performing appropriate
	sensor based actions. This paper presents a multi-agent algorithm
	for a manipulator guidance task based on cooperative visual feedback
	in an unknown environment. First, an information-based iterative
	algorithm to intelligently plan the robot's visual exploration strategy
	is used to enable it to efficiently build 3D models of its environment
	and task elements. The algorithm uses the measured scene information
	to find the next camera position based on expected new information
	content of that pose. This is achieved by utilizing a metric derived
	from Shannon's information theory to determine optimal sensing poses
	for the agent(s) mapping a highly unstructured environment. Second,
	after an appropriate environment model has been built, the quality
	of the information content in the model is used to determine the
	constraint-based optimum view for task execution. The algorithm is
	applicable for both an individual agent as well as multiple cooperating
	agents. Simulation and experimental demonstrations on a cooperative
	robot platform performing a two component insertion/mating task in
	the field show the effectiveness of this algorithm.},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1007/s10514-005-6013-2},
  issn = {0929-5593},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.03.03}
}

@ARTICLE{,
  author = {Suleiman, W. and Kanehiro, F. and Yoshida, E. and Laumond, J.-P.
	and Monin, A. },
  title = {Time Parameterization of Humanoid-Robot Paths},
  journal = IEEE_J_RO,
  year = {2010},
  volume = {26},
  pages = {458--468},
  number = {3},
  abstract = {This paper proposes a unified optimization framework to solve the
	time-parameterization problem of humanoid-robot paths. Even though
	the time-parameterization problem is well known in robotics, the
	application to humanoid robots has not been addressed. This is because
	of the complexity of the kinematical structure as well as the dynamical
	motion equation. The main contribution of this paper is to show that
	the time parameterization of a statically stable <i>path</i> to be
	transformed into a dynamically stable <i>trajectory</i> within the
	humanoid-robot capacities can be expressed as an optimization problem.
	Furthermore, we propose an efficient method to solve the obtained
	optimization problem. The proposed method has been successfully validated
	on the humanoid robot HRP-2 by conducting several experiments. These
	results have revealed the effectiveness and the robustness of the
	proposed method.},
  doi = {10.1109/TRO.2010.2047531},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Suleiman, W. and Yoshida, E. and Kanehiro, F. and Laumond, J.-P.
	and Monin, A. },
  title = {On human motion imitation by humanoid robot},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA 2008},
  year = {2008},
  pages = {2697--2704},
  abstract = {In this paper, the imitation of human captured motions by a humanoid
	robot is considered. The main objective is to reproduce an imitated
	motion which should be as close as possible to the original human
	captured motion. To achieve this goal, the imitation problem is formulated
	as an optimization problem and the physical limits of the humanoid
	robot are considered as constraints. The optimization problem is
	then solved recursively by using an efficient dynamics algorithm,
	which allows the calculation of the gradient function with respect
	to the control parameters analytically. The simulation results using
	OpenHRP platform, which is a dynamical simulator for humanoid robot
	motions, have pointed out that the imitated motions preserve the
	salient characteristics of the original human captured motion. Moreover
	the optimization procedure converges well thanks to the analytical
	calculation of the gradient function.},
  doi = {10.1109/ROBOT.2008.4543619},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Suleiman, W. and Yoshida, E. and Laumond, J.-P. and Monin, A. },
  title = {Optimizing Humanoid Motions Using Recursive Dynamics and Lie Groups},
  booktitle = {Proc. 3rd Int. Conf. Information and Communication Technologies:
	From Theory to Applications ICTTA 2008},
  year = {2008},
  pages = {1--6},
  abstract = {In this paper, we present a recursive method for the optimization
	of humanoid robot motions. The method is based on an efficient dynamics
	algorithm, which allows the calculation of the gradient function
	with respect to the control parameters analytically. The algorithm
	makes use of the theory of Lie groups and Lie algebra. The main objective
	of this method is to smooth the pre-calculated humanoid motions by
	minimizing the efforts, and at the same time improving the stability
	of the humanoid robot during the execution of the planned tasks.
	Experimental results using HRP-2 platform are provided to validate
	the proposed method.},
  doi = {10.1109/ICTTA.2008.4530118},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Suleiman, W. and Yoshida, E. and Laumond, J.-P. and Monin, A. },
  title = {On humanoid motion optimization},
  booktitle = {Proc. 7th IEEE-RAS Int Humanoid Robots Conf},
  year = {2007},
  pages = {180--187},
  abstract = {In this paper, we present a recursive method for the optimization
	of humanoid robot motions. The method is based on an efficient dynamics
	algorithm, which allows the calculation of the gradient function
	with respect to the control parameters analytically. The algorithm
	makes use of the theory of Lie groups and Lie algebra. The main objective
	of this method is to smooth the pre-calculated humanoid motions by
	minimizing the efforts, and at the same time improving the stability
	of the humanoid robot during the execution of the planned tasks.
	Experimental results using HRP-2 platform are provided to validate
	the proposed method.},
  doi = {10.1109/ICHR.2007.4813866},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@ARTICLE{Sultan2007,
  author = {Sultan, Cornel and Seereram, Sanjeev and Mehra, Raman K.},
  title = {Deep Space Formation Flying Spacecraft Path Planning},
  journal = {Int. J. Rob. Res.},
  year = {2007},
  volume = {26},
  pages = {405--430},
  number = {4},
  abstract = {Efficient algorithms for collision-free energy sub-optimal path planning
	for formations of spacecraft flying in deep space are presented.
	The idea is to introduce a set of way-points through which the spacecraft
	are required to pass, combined with parameterizations of the trajectories
	which are energy-optimal for each spacecraft. The resulting constrained
	optimization problem is formulated as a quasi-quadratic parameter
	optimization problem in terms of the way-points parameters. The mathematical
	structure of the problem is further exploited to develop gradient-based
	algorithms in which the gradients are computed analytically. The
	collision avoidance constraints are approximated such that closed
	form solutions are generated. This combination results in fast and
	robust numerical algorithms which work very well for scenarios involving
	a large number of spacecraft (e.g. 20).},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364907076709},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{Sun2008,
  author = {Sun, Xiaoxun and Koenig, Sven and Yeoh, William},
  title = {Generalized Adaptive A*},
  booktitle = {AAMAS '08: Proceedings of the 7th international joint conference
	on Autonomous agents and multiagent systems},
  year = {2008},
  pages = {469--476},
  address = {Richland, SC},
  publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
  isbn = {978-0-9817381-0-9},
  location = {Estoril, Portugal},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Sun2009a,
  author = {Sun, Xiaoxun and Yeoh, William and Chen, Po-An and Koenig, Sven},
  title = {Simple optimization techniques for A*-based search},
  booktitle = {AAMAS '09: Proceedings of The 8th International Conference on Autonomous
	Agents and Multiagent Systems},
  year = {2009},
  pages = {931--936},
  address = {Richland, SC},
  publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
  isbn = {978-0-9817381-7-8},
  location = {Budapest, Hungary},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Sun2009,
  author = {Sun, Xiaoxun and Yeoh, William and Koenig, Sven},
  title = {Dynamic fringe-saving A*},
  booktitle = {AAMAS '09: Proceedings of The 8th International Conference on Autonomous
	Agents and Multiagent Systems},
  year = {2009},
  pages = {891--898},
  address = {Richland, SC},
  publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
  isbn = {978-0-9817381-7-8},
  location = {Budapest, Hungary},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@MISC{Sutton99,
  author = {Richard S. Sutton},
  title = {Open theoretical questions in reinforcement learning},
  howpublished = {http://www-anw.cs.umass.edu/\~{}rich/publications.html},
  year = {1999},
  note = {manuscript},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Sutton98a,
  title = {Reinforcement Learning: An Introduction},
  publisher = {The {MIT} Press},
  year = {1998},
  author = {Richard S. Sutton and Andrew G. Barto},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Sutton81,
  author = {Richard S. Sutton and Andrew G. Barto},
  title = {Toward a Modern Theory of Adaptive Networks: {Expectation} and Prediction},
  journal = {Psychological Review},
  year = {1981},
  volume = {88},
  pages = {135-170},
  number = {2},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{SuttonNIPS99,
  author = {Sutton, Richard S. and McAllester, David and Singh, Satinder P. and
	Mansour, Yishay},
  title = {Policy Gradient Methods for Reinforcement Learning with Function
	Approximation},
  booktitle = nips,
  year = {1999},
  volume = {12},
  pages = {1057--63},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Suzuki2009,
  author = {Suzuki, Yumiko and Thompson, Simon and Kagami, Satoshi},
  title = {High-speed planning and reducing memory usage of a precomputed search
	tree using pruning},
  booktitle = {IROS'09: Proceedings of the 2009 IEEE/RSJ international conference
	on Intelligent robots and systems},
  year = {2009},
  pages = {3918--3923},
  address = {Piscataway, NJ, USA},
  publisher = {IEEE Press},
  abstract = {We present a high-speed planning method with compact precomputed search
	trees using a new pruning method and evaluate the effectiveness and
	the efficiency of our precomputation planning. Its speed is faster
	than an A* planner in maps in which the obstacle rate is the same
	as indoor environments. Precomputed search trees are one way of reducing
	planning time; however, there is a time-memory trade off. Our precomputed
	search tree (PCS) is built with pruning based on a rule of constant
	memory, the maximum size pruning method (MSP) which is a preset ratio
	of pruning. Using MSP, we get a large precomputed search tree which
	is a reasonable size. Additionally, we apply the node selection strategy
	(NSS) to MSP. We extend the outer edge of the tree and enhance the
	path reachability. In maps less than 30% obstacle rates on a map,
	the runtime of precomputation planning is more than one order of
	magnitude faster than the planning without precomputed search trees.
	Our precomputed tree finds an optimal path in maps with 25% obstacle
	rates. Then our precomputation planning speedily produces the optimal
	path in indoor environments.},
  isbn = {978-1-4244-3803-7},
  location = {St. Louis, MO, USA},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@ARTICLE{SwainOropeza1999,
  author = {Swain Oropeza, R. and Devy, M. and Cadenat, V.},
  title = {Controlling the Execution of a Visual Servoing Task},
  journal = {J. Intell. Robotics Syst.},
  year = {1999},
  volume = {25},
  pages = {357--369},
  number = {4},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1023/A:1008179028940},
  issn = {0921-0296},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.01.17}
}

@ARTICLE{szczerba_chen_uhran_ijrr98,
  author = {R. Szczerba and D. Chen and J. Uhran},
  title = {Planning Shortest Paths among 2{D} and 3{D} Weighted Regions Using
	Framed-Subspaces},
  journal = ijrr,
  year = {1998},
  volume = {17},
  pages = {531-546},
  number = {5},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@MISC{Csaba,
  author = {Csaba Szepesvari},
  title = {personal communication},
  month = {Aug},
  year = {1999},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Stribel65,
  author = {Stribel C. T.},
  title = {Sufficient statistics in the optimal control of stochastic systems},
  journal = {Journal of Mathematical Analysis and Applications},
  year = {1965},
  volume = {12},
  pages = {576-592},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Takubo2004,
  author = {Takubo, T. and Inoue, K. and Sakata, K. and Mae, Y. and Arai, T.
	},
  title = {Mobile manipulation of humanoid robots - control method for CoM position
	with external force},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems (IROS 2004)},
  year = {2004},
  volume = {2},
  pages = {1180--1185 vol.2},
  abstract = {Mobile manipulation control method for humanoid robots provides good
	manipulability and stability on manipulation tasks. This method leads
	whole body motion and locomotion, when the manipulator tip trajectory
	is decided. For the dexterous manipulation, the robot has to cope
	with the unexpected forces acting to the hands. By assuming the statistical
	balance, we define the projection of the CoM as "complement zero
	moment point (CZMP)", when the external forces act to the end-effectors.
	We propose to use the CZMP for the modification control of CoM with
	balancing control. The method is implemented to the mobile manipulation
	control method and the effectiveness is confirmed by the experimental
	results.},
  doi = {10.1109/IROS.2004.1389556},
  keywords = {dexterous manipulators, end effectors, humanoid robots, mobile robots,
	position control, stability, complement zero moment point, dexterous
	manipulation, end-effectors, humanoid robots, manipulation tasks
	stability, manipulator tip trajectory, mobile manipulation control
	method, position control},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Tan2002,
  author = {Jindong Tan and Ning Xi},
  title = {Integrated task planning and control for mobile manipulators},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'02},
  year = {2002},
  volume = {1},
  pages = {382--387},
  month = may # { 11--15,},
  doi = {10.1109/ROBOT.2002.1013390},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{tanner_kyriakopoulos_icra00,
  author = {Herbert G. Tanner and Kostas J. Kyriakopoulos},
  title = {Nonholonomic Motion Planning for Mobile Manipulation},
  booktitle = {ICRA},
  year = {2000},
  owner = {Mihail},
  timestamp = {2010.03.08}
}

@INPROCEEDINGS{TaoICML01,
  author = {Nigel Tao and Jonathan Baxter and Lex Weaver},
  title = {A Multi-Agent, Policy Gradient Approach to Network Routing},
  booktitle = ml01,
  year = {2001},
  publisher = {Morgan Kaufmann},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{tassa_erez_smart_nips07,
  author = {Yuval Tassa and Tom Erez and William D. Smart},
  title = {Receding Horizon Differential Dynamic Programming},
  booktitle = {Proceedings of the Neural Information Processing Systems Conference},
  year = {2007},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@OTHER{rocky8_webpage,
  author = {California Institute of Technology and Jet Propulsion Laboratory
	and Robotics Section: http://www-robotics.jpl.nasa.gov/systems/system.cfm?System=3},
  owner = {Mihail},
  timestamp = {2010.03.10},
  url = {http://www-robotics.jpl.nasa.gov/systems/system.cfm?System=3},
  year = {2012}
}

@ARTICLE{tedrake_etal_ijrr10,
  author = {Russ Tedrake and Ian R. Manchester and Mark Tobenkin and John W.
	Roberts},
  title = {LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification},
  journal = {International Journal of Robotics Research},
  year = {2010},
  volume = {29},
  pages = {1038-1052},
  number = {8},
  owner = {mihail},
  timestamp = {2012.01.03}
}

@ARTICLE{Tesauro92,
  author = {Gerald J. Tesauro},
  title = {Practical Issues in Temporal Difference Learning},
  journal = mlj,
  year = {1992},
  volume = {8},
  pages = {257-277},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{tezuka_95,
  title = {Uniform Random Numbers: Theory and Practice},
  publisher = {Kluwer Academic Publishers},
  year = {1995},
  author = {Shu Tezuka},
  owner = {mihail},
  timestamp = {2012.01.15}
}

@TECHREPORT{Thr92a,
  author = {Sebastian Thrun},
  title = {Efficient Exploration in Reinforcement Learning},
  institution = {CMU},
  year = {1992},
  number = {CS-92-102},
  address = {Pittsburgh, PA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Thrun2004,
  author = {Thrun, S. and Thayer, S. and Whittaker, W. and Baker, C. and Burgard,
	W. and Ferguson, D. and Hahnel, D. and Montemerlo, D. and Morris,
	A. and Omohundro, Z. and Reverte, C. and W, Whittaker},
  title = {Autonomous exploration and mapping of abandoned mines},
  journal = {IEEE Robotics \& Automation Magazine},
  year = {2004},
  volume = {11},
  pages = {79--91},
  number = {4},
  abstract = {This article discusses the software architecture of an autonomous
	robotic system designed to explore and map abandoned mines. A new
	set of software tools is presented, enabling robots to acquire maps
	of unprecedented size and accuracy. On 30 May 2003, the robot "Groundhog"
	successfully explored and mapped a main corridor of the abandoned
	Mathies mine near Courtney, Pennsylvania. This article also discusses
	some of the challenges that arise in the subterranean environments
	and some the difficulties of building truly autonomous robots.},
  doi = {10.1109/MRA.2004.1371614},
  issn = {1070-9932},
  keywords = {landmine detection, mobile robots, software architecture, Groundhog
	robot, abandoned underground mines, autonomous robotic system, chassis,
	configuration space representation, data association, mobile robots,
	simultaneous localization and mapping, software architecture, subterranean
	environment},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@PHDTHESIS{tompkins.thesis05,
  author = {Paul Tompkins},
  title = {Mission-Directed Path Planning for Planetary Rover Exploration},
  school = {Robotics Institute, Carnegie Mellon University},
  year = {2005},
  owner = {mihail},
  timestamp = {2012.02.24}
}

@INPROCEEDINGS{Tompkins2004,
  author = {Tompkins, P. and Stentz, A. and Wettergreen, D. },
  title = {Global path planning for Mars rover exploration},
  booktitle = {Proc. IEEE Aerospace Conference},
  year = {2004},
  volume = {2},
  pages = {801--815},
  month = mar # { 6--13,},
  doi = {10.1109/AERO.2004.1367681},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Tompkins2002,
  author = {Tompkins, P. and Stentz, A. and Whittaker, W. },
  title = {Mission planning for the Sun-Synchronous Navigation Field Experiment},
  booktitle = icra,
  year = {2002},
  volume = {4},
  pages = {3493--3500},
  month = may # { 11--15,},
  doi = {10.1109/ROBOT.2002.1014251},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{,
  author = {Torabi, M. and Hauser, K. and Alterovitz, R. and Duindam, V. and
	Goldberg, K. },
  title = {Guiding medical needles using single-point tissue manipulation},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA '09},
  year = {2009},
  pages = {2705--2710},
  abstract = {This paper addresses the use of robotic tissue manipulation in medical
	needle insertion procedures to improve targeting accuracy and to
	help avoid damaging sensitive tissues. To control these multiple,
	potentially competing objectives, we present a phased controller
	that operates one manipulator at a time using closed-loop imaging
	feedback. We present an automated procedure planning technique that
	uses tissue geometry to select the needle insertion location, manipulation
	locations, and controller parameters. The planner uses a stochastic
	optimization of a cost function that includes tissue stress and robustness
	to disturbances. We demonstrate the system on 2D tissues simulated
	with a mass-spring model, including a simulation of a prostate brachytherapy
	procedure. It can reduce targeting errors from more than 2 cm to
	less than 1 mm, and can also shift obstacles by over 1 cm to clear
	them away from the needle path.},
  doi = {10.1109/ROBOT.2009.5152853},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{Tsianos2008,
  author = {Tsianos, K. I. and Kavraki, L. E. },
  title = {Replanning: A powerful planning strategy for hard kinodynamic problems},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2008},
  year = {2008},
  pages = {1667--1672},
  abstract = {A series of kinodynamic sampling-based planners have appeared over
	the last decade to deal with high dimensional problems for robots
	with realistic motion constraints. Yet, offline sampling-based planners
	only work in static and known environments, suffer from unbounded
	memory requirements and the produced paths tend to contain a lot
	of unnecessary maneuvers. This paper describes an online replanning
	algorithm which is flexible and extensible. Our results show that
	using a sampling-based planner in a loop, we can guide the robot
	to its goal using a low dimensional navigation function. We obtain
	higher success rates and shorter solution paths in a series of problems
	using only bounded memory.},
  doi = {10.1109/IROS.2008.4650965},
  keywords = {mobile robots, path planning, robot dynamics, robot kinematics, sampling
	methods, bounded memory, kinodynamic sampling-based planner, low
	dimensional navigation function, mobile robot, online replanning
	algorithm, realistic motion constraint},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@ARTICLE{Tsitsiklis94,
  author = {John N. Tsitsiklis},
  title = {Asynchronous stochastic approximation and {Q-learning}},
  journal = mlj,
  year = {1994},
  volume = {16},
  pages = {185-202},
  number = {3},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Tychonievich2009,
  author = {Tychonievich, Luther A. and Burton, Robert P. and Tychonievich, Louis
	P.},
  title = {Versatile reactive navigation},
  booktitle = {IROS'09: Proceedings of the 2009 IEEE/RSJ international conference
	on Intelligent robots and systems},
  year = {2009},
  pages = {2966--2972},
  address = {Piscataway, NJ, USA},
  publisher = {IEEE Press},
  abstract = {Most autonomous mobile agents operate in a highly constrained environment.
	Despite significant research, existing solutions are limited in their
	ability to handle heterogeneous constraints within highly dynamic
	or uncertain environments. This paper presents a novel maneuver selection
	technique suited for both 2D and 3D environments with highly dynamic
	maneuvering constraints and multiple mobile obstacles. Agents may
	have any arbitrary set of nonholonomic control variables; maneuvers
	can be constrained by a broad class of function inequalities, including
	time-dependent constraints involving nonlinear relationships between
	controlled and agent-state variables. The resulting algorithm has
	been implemented to run in real time using only a fraction of the
	CPU's capacity on an ordinary notebook computer and performs well
	in a number of taxing simulated situations.},
  isbn = {978-1-4244-3803-7},
  location = {St. Louis, MO, USA},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Udrescu2006,
  author = {Udrescu, Mihai and Prodan, Lucian and Vl\u{a}du\c{t}iu, Mircea},
  title = {Implementing quantum genetic algorithms: a solution based on Grover's
	algorithm},
  booktitle = {CF '06: Proceedings of the 3rd conference on Computing frontiers},
  year = {2006},
  pages = {71--82},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {This paper presents a new methodology for running Genetic Algorithms
	on a Quantum Computer. To the best of our knowledge and according
	to reference [6]there are no feasible solutions for the implementation
	of the Quantum Genetic Algorithms (QGAs). We present a new perspective
	on how to build the corresponding QGA architecture. It turns out
	that the genetic strategy is not particularly helpful in our quantum
	computation approach; therefore our solution consists of designing
	a special-purpose oracle that will work with a modified version of
	an already known algorithm (maximum finding [1]), in order to reduce
	the QGAs to a Grover search. Quantum computation offers incentives
	for this approach, due to the fact that the qubit representation
	of the chromosome can encode the entire population as a superposition
	of basis-state values.},
  doi = {http://doi.acm.org/10.1145/1128022.1128034},
  isbn = {1-59593-302-6},
  location = {Ischia, Italy},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@BOOK{Ullman,
  title = {High-level vision},
  publisher = {The {MIT} Press},
  year = {1996},
  author = {Ullman, Shimon},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Undeger2007,
  author = {Undeger, Cagatay and Polat, Faruk},
  title = {Moving target search in grid worlds},
  booktitle = {AAMAS '07: Proceedings of the 6th international joint conference
	on Autonomous agents and multiagent systems},
  year = {2007},
  pages = {1--3},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/1329125.1329438},
  isbn = {978-81-904262-7-5},
  location = {Honolulu, Hawaii},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Undeger2006,
  author = {Undeger, Cagatay and Polat, Faruk},
  title = {Real time target evaluation search},
  booktitle = {AAMAS '06: Proceedings of the fifth international joint conference
	on Autonomous agents and multiagent systems},
  year = {2006},
  pages = {332--334},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/1160633.1160691},
  isbn = {1-59593-303-4},
  location = {Hakodate, Japan},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@BOOK{Uspensky,
  title = {Introduction to Mathematical probability},
  publisher = {McGraw-Hill},
  year = {1937},
  author = {J.V. Uspensky},
  address = {New York, NY},
  __markedentry = {[mihail]},
  optnote = {"Bernstein's inequality apparently dates from the 1920's; it a ppears
	as Problem X.14 in Uspensky's book" - from Pollard's book p. 193},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Valavanis2000,
  author = {Valavanis, K. P.  and Hebert, T.  and Kolluru, R.  and Tsourveloudis,
	N. },
  title = {Mobile robot navigation in 2-D dynamic environments using an electrostatic
	potential field},
  journal = {IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems
	and Humans},
  year = {2000},
  volume = {30},
  pages = {187--196},
  number = {2},
  __markedentry = {[mihail:]},
  abstract = {Proposes a solution to the two-dimensional (2-D) collision fee path
	planning problem for an autonomous mobile robot utilizing an electrostatic
	potential field (EPF) developed through a resistor network, derived
	to represent the environment. No assumptions are made about the amount
	of information contained in the a priori environment map (it may
	be completely empty) or the shape of the obstacles. The well-formulated
	and well-known laws of electrostatic fields are used to prove that
	the proposed approach generates an approximately optimal path (based
	on cell resolution) in a real-time frame. It is also proven through
	the classical laws of electrostatics that the derived potential function
	is a global navigation function (as defined by <span class='snippet'>Rimon</span>
	and <span class='snippet'>Koditschek</span>, 1992), that the field
	is free of all local minima and that all paths necessarily lead to
	the goal position. The complexity of the EPF generated path is shown
	to be O(mn<sub>M</sub>), where m is the total number of polygons
	in the environment and n<sub>M</sub> is the maximum number of sides
	of a polygonal object. The method is tested both by simulation and
	experimentally on a Nomad200 mobile robot platform equipped with
	a ring of sixteen sonar sensors},
  doi = {10.1109/3468.833100},
  owner = {mihail},
  timestamp = {2012.03.12}
}

@ARTICLE{Valiant,
  author = {L. G. Valiant},
  title = {A Theory of the Learnable},
  journal = cacm,
  year = {1984},
  volume = {27},
  pages = {1134-1142},
  number = {11},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{vannoy_xiao_xac08,
  author = {John Vannoy and Jing Xiao},
  title = {Real-Time Adaptive Motion Planning (RAMP) of Mobile Manipulators
	in Dynamic Environments With Unforeseen Changes},
  journal = {IEEE TRANSACTIONS ON ROBOTICS},
  year = {2008},
  volume = {24},
  pages = {1199-1212},
  number = {5},
  owner = {Mihail},
  timestamp = {2010.03.07}
}

@BOOK{Vapnik98,
  title = {Statistical Learning Theory},
  publisher = {Wiley},
  year = {1998},
  author = {Vladimir Vapnik},
  __markedentry = {[mihail]},
  location = {New York, NY},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Vapnik95,
  title = {The Nature of Statistical Learning},
  publisher = {Springer},
  year = {1995},
  author = {Vladimir Vapnik},
  address = {New York, NY},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Vapnik94,
  author = {Vladimir Vapnik and Esther Levin and Yann Le Cun},
  title = {Measuring the {VC}-Dimension of a Learning Machine},
  journal = nc,
  year = {1994},
  volume = {6},
  pages = {851--876},
  number = {5},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/vapnik94measuring.html}
}

@ARTICLE{Varadhan2006,
  author = {Varadhan, Gokul and Krishnan, Shankar and Sriram, T. V.N. and Manocha,
	Dinesh},
  title = {A Simple Algorithm for Complete Motion Planning of Translating Polyhedral
	Robots},
  journal = {Int. J. Rob. Res.},
  year = {2006},
  volume = {25},
  pages = {1049--1070},
  number = {11},
  abstract = {We present a new sampling-based algorithm for complete motion planning.
	Our algorithm relies on computing a star-shaped roadmap of the free
	space. We partition the free space into star-shaped regions such
	that a single point, called the guard, can see every point in the
	star-shaped region. The resulting set of guards capture the intra-region
	connectivity--the connectivity between points belonging to the same
	star-shaped region. We capture the inter-region connectivity by computing
	connectors that link guards of adjacent regions. The guards and connectors
	are combined to obtain the star-shaped roadmap. We present an efficient
	algorithm to compute the roadmap in a deterministic manner without
	explicit computation of the free space. We show that the star-shaped
	roadmap captures the connectivity of the free space, thereby enabling
	us to perform complete motion planning. Our approach is relatively
	simple to implement. We apply our approach to perform motion planning
	of robots with translational and rotational degrees of freedom (dof).
	We highlight its performance in challenging scenarios with narrow
	passages or when there is no collision-free path for robots with
	low degrees of freedom.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364906071199},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.07.05}
}

@PHDTHESIS{VeachPhD,
  author = {Eric Veach},
  title = {Robust Monte Carlo Methods for Light Transport Simulation},
  school = {Stanford University},
  year = {1997},
  address = {Palo Alto, CA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Velagapudi2009,
  author = {Velagapudi, Prasanna and Prokopyev, Oleg and Sycara, Katia and Scerri,
	Paul},
  title = {Analyzing the performance of randomized information sharing},
  booktitle = {AAMAS '09: Proceedings of The 8th International Conference on Autonomous
	Agents and Multiagent Systems},
  year = {2009},
  pages = {821--828},
  address = {Richland, SC},
  publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
  isbn = {978-0-9817381-7-8},
  location = {Budapest, Hungary},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{,
  author = {Vernaza, P. and Likhachev, M. and Bhattacharya, S. and Chitta, S.
	and Kushleyev, A. and Lee, D. D. },
  title = {Search-based planning for a legged robot over rough terrain},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA '09},
  year = {2009},
  pages = {2380--2387},
  abstract = {We present a search-based planning approach for controlling a quadrupedal
	robot over rough terrain. Given a start and goal position, we consider
	the problem of generating a complete joint trajectory that will result
	in the legged robot successfully moving from the start to the goal.
	We decompose the problem into two main phases: an initial global
	planning phase, which results in a footstep trajectory; and an execution
	phase, which dynamically generates a joint trajectory to best execute
	the footstep trajectory. We show how R* search can be employed to
	generate high-quality global plans in the high-dimensional space
	of footstep trajectories. Results show that the global plans coupled
	with the joint controller result in a system robust enough to deal
	with a variety of terrains.},
  doi = {10.1109/ROBOT.2009.5152769},
  owner = {mihail},
  timestamp = {2012.01.13}
}

@ARTICLE{Vose2009,
  author = {Vose, Thomas H. and Umbanhowar, Paul and Lynch, Kevin M.},
  title = {Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid
	Oscillated Plate},
  journal = {Int. J. Rob. Res.},
  year = {2009},
  volume = {28},
  pages = {1020--1039},
  number = {8},
  abstract = {We show that small-amplitude periodic motion of a rigid plate causes
	point parts in frictional contact with the plate to move as if they
	are in a position-dependent velocity field. Further, we prove that
	every periodic plate motion maps to a unique velocity field. By allowing
	a plate to oscillate with six degrees of freedom, we can create a
	large family of programmable velocity fields. We examine in detail
	the class of plate motions described by sinusoidal linear and angular
	accelerations with a single frequency. We hypothesize that this simple
	class can generate all velocity fields that have constant and linear
	terms with respect to position, as well as some quadratic fields
	with respect to position. This set includes fields with isolated
	sinks and squeeze lines that can be used to perform tasks such as
	sensorless part orientation. Several of these fields have been verified
	on our programmable parts-feeding oscillatory device (PPOD). The
	PPOD is a parallel manipulator similar to a Stewart platform, but
	with flexures as joints. An iterative learning control algorithm
	is described that moves the platform with the six-degree-of-freedom
	periodic motion that creates the desired velocity field.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364909340279},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.02.05}
}

@INPROCEEDINGS{Waarsing2003,
  author = {Waarsing, B. J. W. and Nuttin, M. and Van Brussel, H. },
  title = {Behavior-based mobile manipulation inspired by the human example},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'03},
  year = {2003},
  volume = {1},
  pages = {268--273},
  month = sep # { 14--19,},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Wang1996,
  author = {Wang, Hongyan and Agarwal, Pankaj K.},
  title = {Approximation algorithms for curvature-constrained shortest paths},
  booktitle = {SODA '96: Proceedings of the seventh annual ACM-SIAM symposium on
	Discrete algorithms},
  year = {1996},
  pages = {409--418},
  address = {Philadelphia, PA, USA},
  publisher = {Society for Industrial and Applied Mathematics},
  isbn = {0-89871-366-8},
  location = {Atlanta, Georgia, United States},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Wang2007,
  author = {Wang, Pengpeng and Krishnamurti, R. and Gupta, K. },
  title = {Metric View Planning Problem with Traveling Cost and Visibility Range},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {2007},
  pages = {1292--1297},
  abstract = {In this paper, we consider the problem where a point robot in a 2D
	or 3D environment equipped with an omnidirectional range sensor of
	finite range D is asked to inspect a set of surface patches, while
	minimizing the sum of view cost, proportional to the number of viewpoints
	planned, and the travel cost, proportional to the length of path
	traveled. We call it the metric view planning problem with traveling
	cost and visibility range or metric TVPP in short. Via an L-reduction
	from the set covering problem to a two-dimensional metric TVPP, we
	show that the metric TVPP cannot be approximated within O(log m)
	ratio by any polynomial algorithm, where m is the number of surface
	patches to cover. We then analyze the natural two-level algorithm,
	presented by Danner and Kavraki (2002), of solving first the view
	planning problem to get an approximate solution, and then solving,
	again using an approximation algorithm, the Metric traveling salesman
	problem to connect the planned viewpoints. We show this greedy algorithm
	has the approximation ratio of O(log m). Thus, it asymptotically
	achieves the best approximation ratio one can hope for.},
  doi = {10.1109/ROBOT.2007.363163},
  issn = {1050-4729},
  keywords = {computational complexity, distance measurement, greedy algorithms,
	path planning, robot vision, set theory, travelling salesman problems,
	2D environment, 3D environment, approximation algorithm, greedy algorithm,
	metric traveling salesman problem, metric view planning problem,
	omnidirectional range sensor, point robot, polynomial algorithm,
	set covering problem, traveling cost, viewpoint planning, visibility
	range},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Wang2009,
  author = {Wang, Ying and Lang, Haoxiang and de Silva, C. W. },
  title = {A robust mobile robot manipulation system using a switch-based visual-servo
	controller},
  booktitle = {Proc. International Conference on Industrial Mechatronics and Automation
	ICIMA 2009},
  year = {2009},
  pages = {364--367},
  abstract = {This paper develops a robust vision-based mobile manipulation system
	for wheeled mobile robots. In particular, the paper addresses the
	retention of visual features in the field of view of the camera,
	which is an important robustness issue in visual servoing. First,
	the classical approach of Image-Based Visual Servoing (IBVS) for
	fixed-base manipulators is extended to wheeled mobile robots. Second,
	in order to guarantee visibility of visual features, an innovative
	controller with machine learning using Q-learning is proposed, which
	can learn its behavior policy and autonomously improve its performance.
	Third, a hybrid controller for robust mobile manipulation is developed
	to integrate the IBVS controller and the Q-learning controller through
	a rule-based arbitrator. This is thought to be the first work that
	integrates Reinforcement Learning or Q-learning with visual servoing
	to achieve robust operation. Experiments are carried out to validate
	the approaches developed in this paper. The experimental results
	show that the new hybrid controller developed here possesses the
	capabilities of self-learning and fast response, and provides a balanced
	performance with respect to robustness and accuracy.},
  doi = {10.1109/ICIMA.2009.5156638},
  keywords = {learning (artificial intelligence), learning systems, manipulators,
	mobile robots, visual servoing, Q-learning controller, fixed-base
	manipulator, image-based visual servoing, machine learning, reinforcement
	learning, robust mobile robot manipulation system, robust vision-based
	mobile manipulation system, rule-based arbitrator, switch-based visualservo
	controller, visual features, wheeled mobile robot, Field of View,
	Mobile Robots, Robustness, Visual Servoing},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Wang2009a,
  author = {Ying Wang and Haoxiang Lang and de Silva, C. W. },
  title = {A robust mobile robot manipulation system using a switch-based visual-servo
	controller},
  booktitle = {Proc. International Conference on Industrial Mechatronics and Automation
	ICIMA 2009},
  year = {2009},
  pages = {364--367},
  month = may # { 15--16,},
  doi = {10.1109/ICIMA.2009.5156638},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@PHDTHESIS{WatkinsPhD,
  author = {Chris J. C. H. Watkins},
  title = {Learning from Delayed Rewards},
  school = {King's College},
  year = {1989},
  address = {Cambridge, UK},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Watkins92,
  author = {Chris J. C. H. Watkins and Peter Dayan},
  title = {Q-Learning},
  journal = mlj,
  year = {1992},
  volume = {8},
  pages = {279-292},
  number = {3},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Wellington2006,
  author = {Wellington, Carl and Courville, Aaron and Stentz, Anthony (Tony)},
  title = {A Generative Model of Terrain for Autonomous Navigation in Vegetation},
  journal = {Int. J. Rob. Res.},
  year = {2006},
  volume = {25},
  pages = {1287--1304},
  number = {12},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364906072769},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Wellington2004,
  author = {Wellington, C. and Stentz, A. },
  title = {Online adaptive rough-terrain navigation vegetation},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'04},
  year = {2004},
  volume = {1},
  pages = {96--101},
  doi = {10.1109/ROBOT.2004.1307135},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Weser2009,
  author = {Weser, M. and Jianwei Zhang},
  title = {Autonomous planning for mobile manipulation services based on multi-level
	robot skills},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2009},
  year = {2009},
  pages = {1999--2004},
  month = oct # { 10--15,},
  doi = {10.1109/IROS.2009.5353901},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Whi91,
  author = {S.D. Whitehead},
  title = {A complexity analysis of cooperative mechanisms in reinforcement
	learning},
  booktitle = {Proceedings of AAAI-91},
  year = {1991},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Wiering98,
  author = {Marco Wiering and Juergen Schmidhuber},
  title = {{HQ}-Learning},
  journal = {Adaptive Behavior},
  year = {1998},
  volume = {6},
  pages = {219-246},
  number = {2},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{Williams91,
  author = {R. Williams and J. Peng},
  title = {Function optimization using connectionist reinforcement learning
	algorithms},
  journal = {Connection Science},
  year = {1991},
  volume = {3},
  pages = {241-268},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/williams91function.html}
}

@ARTICLE{Williams92,
  author = {Ronald J. Williams},
  title = {Simple Statistical Gradient-Following Algorithms for Connectionist
	Reinforcement Learning},
  journal = mlj,
  year = {1992},
  volume = {8},
  pages = {229-256},
  number = {3},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Williams87,
  author = {Ronald J. Williams},
  title = {A Class of Gradient-Estimating Algorithms for Reinforcement Learning
	in Neural Networks},
  booktitle = {Proceedings of the IEEE First International Conference on Neural
	Networks},
  year = {1987},
  address = {San Diego, CA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@TECHREPORT{Williams86,
  author = {Ronald J. Williams},
  title = {Reinforcement Learning in Connectionist Networks: {A} Mathematical
	Analysis},
  institution = {Institute for Cognitive Science, University of California, San Diego},
  year = {1986},
  number = {ICS-8605},
  address = {La Jolla, CA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ELECTRONIC{ros_chomp_website,
  author = {{Willow Garage}},
  year = {2010},
  title = {{ROS} {CHOMP} Website},
  url = {http://www.ros.org/wiki/chomp_motion_planner},
  owner = {mihail},
  timestamp = {2012.03.10}
}

@INPROCEEDINGS{Wilmarth1999,
  author = {Wilmarth, Steven A. and Amato, Nancy M. and Stiller, Peter F.},
  title = {Motion planning for a rigid body using random networks on the medial
	axis of the free space},
  booktitle = {SCG '99: Proceedings of the fifteenth annual symposium on Computational
	geometry},
  year = {1999},
  pages = {173--180},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/304893.304967},
  isbn = {1-58113-068-6},
  location = {Miami Beach, Florida, United States},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{Wilson2000,
  author = {Wilson, G. and Delavaux, J.-M. and Stentz, A. and Ryazansky, I. and
	Windeler, R. and Fishteyn, M. and Mcintosh, C. },
  title = {Low-noise 1-watt Er/Yb fiber amplifier for CATV distribution in HFC
	and FTTH/C systems},
  booktitle = {Proc. Optical Fiber Communication Conference},
  year = {2000},
  volume = {4},
  pages = {58--60},
  month = mar # { 7--10,},
  doi = {10.1109/OFC.2000.869415},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Wolpert98,
  author = {David H. Wolpert and Kagan Tumer and Jeremy Frank},
  title = {Using Collective Intelligence to Route Internet Traffic},
  booktitle = nips,
  year = {1998},
  volume = {11},
  pages = {952--8},
  publisher = {The {MIT} Press},
  __markedentry = {[mihail]},
  optaddress = {Denver, CO},
  owner = {mihail},
  timestamp = {2011.03.21},
  url = {citeseer.nj.nec.com/wolpert99using.html}
}

@ARTICLE{Wu2007,
  author = {Wu, X. J. and Tang, J. and Heng, K. H.},
  title = {On the construction of discretized configuration space of manipulators},
  journal = {Robotica},
  year = {2007},
  volume = {25},
  pages = {1--11},
  number = {1},
  abstract = {In this research, we study the construction of configuration space
	(C-space) of manipulators. The proposed approach is based upon precomputing
	the global topology of a robot's free space, and consists of an offline
	phase and an online phase. In the offline phase, a C-space obstacle
	database (COD) for a given robot is developed in which the C-space
	obstacle (C-obstacle) maps are stored and indexed by the cells of
	the workspace; in the online phase when the same robot is operated
	in a real environment, those maps whose indices match the real obstacle
	cells are identified and then extracted from the COD. The superposition
	of these maps forms forbidden region in operation. This proposed
	approach is a generic one and can be applied to manipulators with
	arbitrary kinematic structures and geometries. The construction of
	the COD, which is generally the most time-consuming step, is implemented
	in the offline phase, and the online computing only involves the
	identification of the components matching the COD indices. Therefore,
	this proposed approach for C-space construction can be realized in
	a real-time online fashion and is especially suitable for robot manipulation
	under dynamic operations. We carry out analyses on several types
	of manipulators to verify and demonstrate the feasibility and efficiency
	of the proposed approach.},
  address = {New York, NY, USA},
  doi = {http://dx.doi.org/10.1017/S0263574706002943},
  issn = {0263-5747},
  owner = {Mihail},
  publisher = {Cambridge University Press},
  timestamp = {2010.06.29}
}

@ARTICLE{Wu2009,
  author = {Wu, X. J. and Tang, J. and Li, Q. and Heng, K. H.},
  title = {Development of a configuration space motion planner for robot in
	dynamic environment},
  journal = {Robot. Comput.-Integr. Manuf.},
  year = {2009},
  volume = {25},
  pages = {13--31},
  number = {1},
  abstract = {In this paper, the on-line motion planning of articulated robots in
	dynamic environment is investigated. We propose a practical on-line
	robot motion planning approach that is based upon pre-computing the
	global configuration space (C-space) connectivity with respect to
	all possible obstacle positions. The proposed motion planner consists
	of an off-line stage and an on-line stage. In the off-line stage,
	the obstacles in the C-space (C-obstacle) with respect to the obstacle
	positions in the workspace are computed, which are then stored using
	a hierarchical data structure with non-uniform 2^m trees. In the
	on-line stage, the real obstacle cells in the workspace are identified
	and the corresponding 2^m trees from the pre-computed database are
	superposed to construct the real-time C-space. The collision-free
	path is then searched in this C-space by using the A* algorithm under
	a multi-resolution strategy which has excellent computational efficiency.
	In this approach, the most time-consuming operation is performed
	in the off-line stage, while the on-line computing only need to deal
	with the real-time obstacles occurring in the dynamic environment.
	The minimized on-line computational cost makes it feasible for real-time
	on-line motion planning. The validity and efficiency of this approach
	is demonstrated using manipulator prototypes with 5 and 7 degree-of-freedom.},
  address = {Tarrytown, NY, USA},
  doi = {http://dx.doi.org/10.1016/j.rcim.2007.04.004},
  issn = {0736-5845},
  owner = {Mihail},
  publisher = {Pergamon Press, Inc.},
  timestamp = {2010.06.29}
}

@ARTICLE{Xidias2008,
  author = {Xidias, Elias k. and Aspragathos, Nikos a.},
  title = {Motion planning for multiple non-holonomic robots: A geometric approach},
  journal = {Robotica},
  year = {2008},
  volume = {26},
  pages = {525--536},
  number = {4},
  abstract = {In this paper, a geometrical approach is developed to generate simultaneously
	optimal (or near-optimal) smooth paths for a set of non-holonomic
	robots, moving only forward in a 2D environment cluttered with static
	and moving obstacles. The robots environment is represented by a
	3D geometric entity called Bump-Surface, which is embedded in a 4D
	Euclidean space. The multi-motion planning problem (MMPP) is resolved
	by simultaneously finding the paths for the set of robots represented
	by monoparametric smooth C2 curves onto the Bump-Surface, such that
	their inverse images onto the initial 2D workspace satisfy the optimization
	motion-planning criteria and constraints. The MMPP is expressed as
	an optimization problem, which is solved on the Bump-Surface using
	a genetic algorithm. The performance of the proposed approach is
	tested through a considerable number of simulated 2D dynamic environments
	with car-like robots.},
  address = {New York, NY, USA},
  doi = {http://dx.doi.org/10.1017/S0263574707003980},
  issn = {0263-5747},
  owner = {Mihail},
  publisher = {Cambridge University Press},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{,
  author = {Jijie Xu and Duindam, V. and Alterovitz, R. and Goldberg, K. },
  title = {Motion planning for steerable needles in 3D environments with obstacles
	using rapidly-exploring Random Trees and backchaining},
  booktitle = {Proc. IEEE Int. Conf. Automation Science and Engineering CASE 2008},
  year = {2008},
  pages = {41--46},
  abstract = {Steerable needles composed of a highly flexible material and with
	a bevel tip offer greater mobility compared to rigid needles for
	minimally invasive medical procedures. In this paper, we apply sampling-based
	motion planning technique to explore motion planning for the steerable
	bevel-tip needle in 3D environments with obstacles. Based on the
	Rapidly-exploring Random Trees (RRTs) method, we develop a motion
	planner to quickly build a tree to search the configuration space
	using a new exploring strategy, which generates new states using
	randomly sampled control space instead of the deterministically sampled
	one used in classic RRTs. Notice the fact that feasible paths might
	not be found for any given entry point and target configuration,
	we also address the feasible entry point planning problem to find
	feasible entry points in a specified entry zone for any given target
	configuration. To solve this problem, we developed a motion planning
	algorithm based on RRTs with backchaining, which grow backward from
	the target to explore the configuration space. Finally, simulation
	results with a approximated realistic prostate needle insertion environment
	demonstrate the performance of the proposed motion planner.},
  doi = {10.1109/COASE.2008.4626486},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Jijie Xu and Duindam, V. and Alterovitz, R. and Pouliot, J. and Cunha,
	J. A. M. and I-Chow Hsu and Goldberg, K. },
  title = {Planning fireworks trajectories for steerable medical needles to
	reduce patient trauma},
  booktitle = {Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems IROS 2009},
  year = {2009},
  pages = {4517--4522},
  abstract = {Accurate insertion of needles to targets in 3D anatomy is required
	for numerous medical procedures. To reduce patient trauma, a ￃﾂￂ﾿fireworksￃﾂￂ﾿
	needle insertion approach can be used in which multiple needles are
	inserted from a single small region on the patient's skin to multiple
	targets in the tissue. In this paper, we explore motion planning
	for ￃﾂￂ﾿fireworksￃﾂￂ﾿ needle insertion in 3D environments by developing
	an algorithm based on Rapidly-exploring Random Trees (RRTs). Given
	a set of targets, we propose an algorithm to quickly explore the
	configuration space by building a forest of RRTs and to find feasible
	plans for multiple steerable needles from a single entry region.
	We present two path selection algorithms with different optimality
	considerations to optimize the final plan among all feasible outputs.
	Finally, we demonstrate the performance of the proposed algorithm
	with a simulation based on a prostate cancer treatment environment.},
  doi = {10.1109/IROS.2009.5354787},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{Xu2008,
  author = {Ling Xu and Stentz, A. },
  title = {Blended local planning for generating safe and feasible paths},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems IROS 2008},
  year = {2008},
  pages = {709--716},
  month = sep # { 22--26,},
  doi = {10.1109/IROS.2008.4651141},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@ARTICLE{yahja_singh_stentz_ras00,
  author = {A. Yahja and S. Singh and A. Stentz},
  title = {An efficient on-line path planner for outdoor mobile robots},
  journal = {Robotics and Autonomous Systems},
  year = {2000},
  volume = {32},
  pages = {129-143},
  number = {2},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Yahja1998,
  author = {Yahja, A. and Stentz, A. and Singh, S. and Brumitt, B. L. },
  title = {Framed-quadtree path planning for mobile robots operating in sparse
	environments},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation},
  year = {1998},
  volume = {1},
  pages = {650--655},
  month = may # { 16--20,},
  doi = {10.1109/ROBOT.1998.677046},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{yahja_etal.icra98,
  author = {Yahja, A. and Stentz, A. and Singh, S. and Brumitt, B. L.},
  title = {Framed-quadtree path planning for mobile robots operating in sparse
	environments},
  booktitle = icra,
  year = {1998},
  volume = {1},
  pages = {650--655},
  abstract = {Mobile robots operating in vast outdoor unstructured environments
	often only have incomplete maps and must deal with new objects found
	during traversal. Path planning in such sparsely occupied regions
	must be incremental to accommodate new information, and, must use
	efficient representations. In previous work we have developed an
	optimal method D* to plan paths when the environment is not known
	ahead of time, but, rather is discovered as the robot moves around.
	To date, D* has been applied to a uniform grid representation for
	obstacles and free space. In this paper we propose the use of D*
	with framed quadtrees to improve the efficiency of planning paths
	in sparse environments. The new system has been tested in simulation
	as well on an autonomous jeep, equipped with local obstacle avoidance
	capabilities. We show how the use of framed quadtrees improves performance
	in terms of path length, computation speed, and memory requirements},
  doi = {10.1109/ROBOT.1998.677046},
  owner = {mihail},
  timestamp = {2012.02.24}
}

@ARTICLE{Yakey2001,
  author = {Yakey, J. H. and LaValle, S. M. and Kavraki, L. E. },
  title = {Randomized path planning for linkages with closed kinematic chains},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {2001},
  volume = {17},
  pages = {951--958},
  number = {6},
  abstract = {We extend randomized path planning algorithms to the case of articulated
	robots that have closed kinematic chains. This is an important class
	of problems, which includes applications such as manipulation planning
	using multiple open-chain manipulators that cooperatively grasp an
	object and planning for reconfigurable robots in which links might
	be arranged in a loop to ease manipulation or locomotion. Applications
	also exist in areas beyond robotics, including computer graphics,
	computational chemistry, and virtual prototyping. Such applications
	typically involve high degrees of freedom and a parameterization
	of the configurations that satisfy closure constraints is usually
	not available. We show how to implement key primitive operations
	of randomized path planners for general closed kinematics chains.
	These primitives include the generation of random free configurations
	and the generation of local paths. To demonstrate the feasibility
	of our primitives for general chains, we show their application to
	recently developed randomized planners and present computed results
	for high-dimensional problems},
  doi = {10.1109/70.976030},
  issn = {1042-296X},
  keywords = {closed loop systems, computerised control, path planning, randomised
	algorithms, robot kinematics, articulated robots, closed kinematic
	chains, computational chemistry, computer graphics, general chains,
	general closed kinematics chains, high-dimensional problems, key
	primitive operations, local path generation, manipulation planning,
	multiple open-chain manipulators, random free configurations, randomized
	path planners, randomized path planning, randomized planners, reconfigurable
	robots, virtual prototyping},
  owner = {Mihail},
  timestamp = {2010.01.17}
}

@INPROCEEDINGS{Yamashiro2009,
  author = {Yamashiro, M. and Xie, Zhaoxian and Yamaguchi, H. and Ming, Aiguo
	and Shimojo, M. },
  title = {Home service by a mobile manipulator system},
  booktitle = {Proc. IEEE International Conference on Automation and Logistics ICAL
	'09},
  year = {2009},
  pages = {295--300},
  abstract = {A mobile manipulator system as a versatile platform for home service
	has been developed by authors. The mobile system has two features.
	One is the efficient and easy recognition of environment and objects
	about geometrical, physical and additional information by a sensor
	fusion system consisting of RFID, camera and laser range sensor.
	The other is such geometrical, physical and additional information-based
	mobile manipulation for various objects. In this paper, mobile manipulation
	of various chairs for home service is described. The methods for
	recognition and mobile manipulation are proposed and experimental
	results are given to show the feasibility of the proposed methods.},
  doi = {10.1109/ICAL.2009.5262909},
  keywords = {manipulators, mobile robots, object recognition, radiofrequency identification,
	robot vision, sensor fusion, service robots, RFID, chair manipulation,
	environment recognition, home service, laser range sensor, mobile
	manipulator system, object recognition, robot vision, sensor fusion
	system, Home service, RFID, chairs, mobile manipulation, sensor fusion},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Yang2005,
  author = {Yang, Guowu and Song, Xiaoyu and Hung, William N. N. and Perkowski,
	Marek A.},
  title = {Fast synthesis of exact minimal reversible circuits using group theory},
  booktitle = {ASP-DAC '05: Proceedings of the 2005 Asia and South Pacific Design
	Automation Conference},
  year = {2005},
  pages = {1002--1005},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {We present fast algorithms to synthesize exact minimal reversible
	circuits for various types of gates and costs. By reducing reversible
	logic synthesis problems to group theory problems, we use the powerful
	algebraic software GAP to solve such problems. Our algorithms are
	not only able to minimize for arbitrary cost functions of gates,
	but also orders of magnitude faster than the existing approaches
	to reversible logic synthesis. In addition, we show that the Peres
	gate is a better choice than the standard Toffoli gate in libraries
	of universal reversible gates.},
  doi = {http://doi.acm.org/10.1145/1120725.1120777},
  isbn = {0-7803-8737-6},
  location = {Shanghai, China},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@ARTICLE{Yang2010,
  author = {Yang, Yuandong and Brock, Oliver},
  title = {Elastic roadmaps--motion generation for autonomous mobile manipulation},
  journal = {Auton. Robots},
  year = {2010},
  volume = {28},
  pages = {113--130},
  number = {1},
  abstract = {The autonomous execution of mobile manipulation tasks in unstructured,
	dynamic environments requires the consideration of various motion
	constraints. The task itself imposes constraints, of course, but
	so do the kinematic and dynamic limitations of the manipulator, unpredictably
	moving obstacles, and the global connectivity of the workspace. All
	of these constraints need to be updated continuously in response
	to sensor feedback. We present the elastic roadmap framework, a novel
	feedback motion planning approach capable of satisfying all of these
	motion constraints and their respective feedback requirements. This
	framework is validated in simulation and real-world experiments using
	a mobile manipulation platform and a stationary manipulator.},
  address = {Hingham, MA, USA},
  doi = {http://dx.doi.org/10.1007/s10514-009-9151-x},
  issn = {0929-5593},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.06.29}
}

@ARTICLE{Yanushkevich2003,
  author = {Yanushkevich, Svetlana N.},
  title = {Editorial -- Artificial Intelligence in Logic Design},
  journal = {Artif. Intell. Rev.},
  year = {2003},
  volume = {20},
  pages = {167--168},
  number = {3-4},
  address = {Norwell, MA, USA},
  doi = {http://dx.doi.org/10.1023/B:AIRE.0000006651.15344.b9},
  issn = {0269-2821},
  owner = {Mihail},
  publisher = {Kluwer Academic Publishers},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{ye_iprc88,
  author = {Ye, Q.-Z. },
  title = {The signed Euclidean distance transform and its applications},
  booktitle = {Proc. th Int Pattern Recognition Conf},
  year = {1988},
  pages = {495--499},
  doi = {10.1109/ICPR.1988.28276},
  owner = {mihail},
  timestamp = {2012.01.05}
}

@ARTICLE{yershov_lavalle_wafr11,
  author = {Dmitry Yershov and Steven LaValle},
  title = {Sufficient Conditions for the Existence of Resolution Complete Planning
	Algorithms},
  journal = {ALGORITHMIC FOUNDATIONS OF ROBOTICS IX},
  year = {2011},
  volume = {68},
  pages = {303-320},
  owner = {mihail},
  timestamp = {2012.01.19}
}

@ARTICLE{Yershova2010,
  author = {Yershova, Anna and Jain, Swati and Lavalle, Steven M. and Mitchell,
	Julie C.},
  title = {Generating Uniform Incremental Grids on SO(3) Using the Hopf Fibration},
  journal = {Int. J. Rob. Res.},
  year = {2010},
  volume = {29},
  pages = {801--812},
  number = {7},
  abstract = {The problem of generating uniform deterministic samples over the rotation
	group, SO(3), is fundamental to computational biology, chemistry,
	physics, and numerous branches of computer science. We present the
	best-known method to date for constructing incremental, deterministic
	grids on SO(3); it provides: (1) the lowest metric distortion for
	grid neighbor edges, (2) optimal dispersion-reduction with each additional
	sample, (3) explicit neighborhood structure, and (4) equivolumetric
	partition of SO(3) by the grid cells. We also demonstrate the use
	of the sequence on motion planning problems.},
  address = {Thousand Oaks, CA, USA},
  doi = {http://dx.doi.org/10.1177/0278364909352700},
  issn = {0278-3649},
  owner = {Mihail},
  publisher = {Sage Publications, Inc.},
  timestamp = {2010.06.29}
}

@INPROCEEDINGS{Yin2009,
  author = {Yin, Dafei},
  title = {A scalable heuristic for evacuation planning in large road network},
  booktitle = {IWCTS '09: Proceedings of the Second International Workshop on Computational
	Transportation Science},
  year = {2009},
  pages = {19--24},
  address = {New York, NY, USA},
  publisher = {ACM},
  doi = {http://doi.acm.org/10.1145/1645373.1645377},
  isbn = {978-1-60558-861-2},
  location = {Seattle, Washington},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{,
  author = {Yoshida, E. and Belousov, I. and Esteves, C. and Laumond, J.-P. },
  title = {Humanoid motion planning for dynamic tasks},
  booktitle = {Proc. 5th IEEE-RAS Int Humanoid Robots Conf},
  year = {2005},
  pages = {1--6},
  abstract = {This paper addresses an integrated humanoid motion planning scheme
	including both advanced algorithmic motion planning technique and
	dynamic pattern generator so that the humanoid robot achieve tasks
	including dynamic motions. A two-stage approach is proposed for this
	goal. First, geometric and kinematic motion planner first computes
	collision-free paths for the humanoid robot. Then the dynamic pattern
	generator provides dynamically feasible humanoid motion including
	both locomotion and task execution such as object transportation
	or manipulation. If the generated dynamic motion causes collision
	due to dynamic movements, the planner go back to the planning stage
	to remove the collision by path reshaping. This iterative planning
	scheme enables robust planning against variation of task dynamics.
	Simulation results are provided to validate the proposed planning
	method},
  doi = {10.1109/ICHR.2005.1573536},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@ARTICLE{,
  author = {Yoshida, E. and Esteves, C. and Belousov, I. and Laumond, J.-P. and
	Sakaguchi, T. and Yokoi, K. },
  title = {Planning 3-D Collision-Free Dynamic Robotic Motion Through Iterative
	Reshaping},
  journal = IEEE_J_RO,
  year = {2008},
  volume = {24},
  pages = {1186--1198},
  number = {5},
  abstract = {We propose a general and practical planning framework for generating
	3-D collision-free motions that take complex robot dynamics into
	account. The framework consists of two stages that are applied iteratively.
	In the first stage, a collision-free path is obtained through efficient
	geometric and kinematic sampling-based motion planning. In the second
	stage, the path is transformed into dynamically executable robot
	trajectories by dedicated dynamic motion generators. In the proposed
	iterative method, those dynamic trajectories are sent back again
	to the first stage to check for collisions. Depending on the application,
	temporal or spatial reshaping methods are used to treat detected
	collisions. Temporal reshaping adjusts the velocity, whereas spatial
	reshaping deforms the path itself. We demonstrate the effectiveness
	of the proposed method through examples of a space manipulator with
	highly nonlinear dynamics and a humanoid robot executing dynamic
	manipulation and locomotion at the same time.},
  doi = {10.1109/TRO.2008.2002312},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Eiichi Yoshida and Claudia Esteves and Takeshi Sakaguchi and Jean-Paul
	Laumond and Kazuhito Yokoi},
  title = {Smooth Collision Avoidance: Practical Issues in Dynamic Humanoid
	Motion},
  booktitle = {Proc. IEEE/RSJ Int Intelligent Robots and Systems Conf},
  year = {2006},
  pages = {827--832},
  abstract = {In this paper we address smooth and collision-free whole-body motion
	planning for humanoid robots. A two-stage iterative planning framework
	is introduced where geometric motion planner and dynamic pattern
	generator interacts by exchanging the trajectory, to obtain 3D whole-body
	dynamic motions simultaneous tasks including locomotion, in complex
	environments. We propose a practical method for smooth motion reshaping
	to avoid collisions in generated dynamic motion. Based on motion
	editing techniques in computer graphics animation, smooth collision-avoiding
	motion is generated through trajectory deformation. The validity
	of the proposed reshaping method is verified by computer simulations
	and experiments using humanoid platform HRP-2},
  doi = {10.1109/IROS.2006.281732},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Yoshida, E. and Kanoun, O. and Esteves, C. and Laumond, J.-P. },
  title = {Task-driven Support Polygon Reshaping for Humanoids},
  booktitle = {Proc. 6th IEEE-RAS Int Humanoid Robots Conf},
  year = {2006},
  pages = {208--213},
  abstract = {In this paper we address a task-driven motion generation method that
	allows a humanoid robot to make whole-body motions including support
	polygon reshaping to achieve the given tasks. In the proposed method,
	generalized inverse kinematics (IK) is employed with floating-base
	to generate humanoid whole-body motions that enable the robot to
	accomplish the tasks according to given priorities. During the motion,
	several criteria such as manipulability or end-effector position
	error are tracked. If the desired task cannot be done because of
	those criteria, a geometric planner for support polygon is activated.
	Then the whole-body motion is computed again always using the generalized
	IK solver including stepping motion that realizes the deformed support
	polygon by using dynamic walking pattern generator. This method provides
	a way to perform tasks that could not be done without changing the
	humanoid's support state. We have verified the proposed framework
	through simulations and experiments using humanoid robot HRP-2},
  doi = {10.1109/ICHR.2006.321386},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Yoshida, E. and Mallet, A. and Lamiraux, F. and Kanoun, O. and Stasse,
	O. and Poirier, M. and Dominey, P.-F. and Laumond, J.-P. and Yokoi,
	K. },
  title = {"Give me the purple ball" - he said to HRP-2},
  booktitle = {Proc. 7th IEEE-RAS Int Humanoid Robots Conf},
  year = {2007},
  pages = {89--95},
  abstract = {This paper reports current experiments conducted on HRP-2 based research
	on robot autonomy. The contribution of the paper is not focused on
	a specific area but its objective is to highlight the critical issues
	that had to be solved to allow the humanoid robot HRP-2 to understand
	and execute the order ldquogive me the purple ballrdquo in an autonomous
	way. Such an experiment requires: simple object recognition and localization,
	motion planning and control, natural spoken language supervision,
	simple action supervisor and control architecture.},
  doi = {10.1109/ICHR.2007.4813853},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Yoshida, E. and Poirier, M. and Laumond, J.-P. and Alami, R. and
	Yokoi, K. },
  title = {Pivoting based manipulation by humanoids: a controllability analysis},
  booktitle = {Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems IROS 2007},
  year = {2007},
  pages = {1130--1135},
  abstract = {Pivoting manipulation has such advantages as dexterity and safety
	over other methods to move bulky or heavy objects. In this paper
	we aim to show that a polyhedral object can be displaced to arbitrary
	position and orientation on a plane (i.e. such a pivoting system
	is controllable). More than that we show it is small time controllable,
	i.e. the reachable space from a starting point contains always a
	neighbor no matter how cluttered the environment is. As a consequence
	of this analysis, we propose a steering method to plan a manipulation
	path to be performed by a humanoid robot: first we use a classical
	nonholonomic path planner that accounts for the robot motion constraints,
	and then we transform that path into a sequence of pivoting operations.
	While the feasibility of elementary pivoting tasks has been already
	experienced by the humanoid robot HRP-2, we present here the very
	first simulations of the plans generated by our steering method.},
  doi = {10.1109/IROS.2007.4399212},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Yoshida, E. and Poirier, M. and Laumond, J.-P. and Kanoun, O. and
	Lamiraux, F. and Alami, R. and Yokoi, K. },
  title = {Regrasp planning for pivoting manipulation by a humanoid robot},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA '09},
  year = {2009},
  pages = {2467--2472},
  abstract = {A method of regrasp planning for humanoid robot manipulation is proposed.
	We adopt pivoting manipulation for the humanoid robot to move a bulky
	object without lifting in a stable and dexterous manner. In order
	to carry the object to a desired place, the humanoid should sometimes
	move through narrow areas surrounded by obstacles. We propose a roadmap
	multiplexing planning to allow the robot to leave the object near
	narrow places and to regrasp it from another position to continue
	carrying. We utilize visibility probabilistic roadmap (PRM) method
	as a preprocessing to capture the critical configurations for regrasping.
	Then a diffusion method is employed to plan the overall manipulation
	path including regrasping. The proposed method is verified through
	planning simulation including whole-body motions.},
  doi = {10.1109/ROBOT.2009.5152540},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{,
  author = {Yoshida, E. and Poirier, M. and Laumond, J.-P. and Kanoun, O. and
	Lamiraux, F. and Alami, R. and Yokoi, K. },
  title = {Whole-body motion planning for pivoting based manipulation by humanoids},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation ICRA 2008},
  year = {2008},
  pages = {3181--3186},
  abstract = {This paper emphasizes on the capacity of a humanoid robot to perform
	tasks that are difficult for other types of robots. It deals with
	manipulation of bulky objects. Such tasks require complicated manipulations
	involving the whole-body and line coordination between legs, arms
	and torso motions. We introduce here a whole-body motion planner
	that allows a humanoid robot to autonomously plan a pivoting strategy
	that accounts for the various constraints: collision avoidance, legs-arms
	coordination and stability control. Based on a previous result by
	the authors [1] proving the small-time controllability of a pivoting
	system, the planner is proven to inherit from the probabilistic completeness
	of the sampling- based motion planning method it is built on. The
	geometric and kinematic capacity of the proposed planner is mainly
	demonstrated through simulations and experiments.},
  doi = {10.1109/ROBOT.2008.4543695},
  owner = {mihail},
  timestamp = {2012.01.12}
}

@INPROCEEDINGS{Yoshida2000,
  author = {Yoshida, H. and Inoue, K. and Arai, T. and Mae, Y. },
  title = {Mobile manipulation of humanoid robots-analysis of manipulability
	and stability in mobile manipulation},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and
	Systems (IROS 2000)},
  year = {2000},
  volume = {3},
  pages = {1924--1929 vol.3},
  abstract = {This paper describes mobile manipulation of humanoid robots. A humanoid
	robot is a kind of integrated machines: two arm and two leg mechanism.
	It could be well applied to mobile manipulation in nonroutine task
	automation. The main objective of the mobile manipulation is to obtain
	versatile and efficient manipulation by the arms. In this respect
	the legs are required to assist the arms obtaining their high manipulability
	by changing step length and timing of step motion. Accordingly, the
	required motion of the legs in mobile manipulation is different from
	conventional biped locomotion. From this point of view, the relationship
	between manipulability of the arm and various leg motions is analyzed
	and evaluated by computer simulations},
  doi = {10.1109/IROS.2000.895252},
  keywords = {legged locomotion, manipulators, stability, computer simulations,
	humanoid robots, leg motion, manipulability, mobile manipulation,
	nonroutine task automation, stability, step length, step motion timing},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@INPROCEEDINGS{Yoshida2001,
  author = {Yoshida, H. and Inoue, K. and Arai, T. and Mae, Y. k},
  title = {Mobile manipulation of humanoid robots-a method of adjusting leg
	motion for improvement of arm's manipulability},
  booktitle = {Proc. IEEE/ASME International Conference on Advanced Intelligent
	Mechatronics},
  year = {2001},
  volume = {1},
  pages = {266--271},
  month = jul # { 8--12,},
  doi = {10.1109/AIM.2001.936465},
  owner = {Mihail},
  timestamp = {2010.02.06}
}

@ARTICLE{yoshikawa_ijrr85,
  author = {Yoshikawa, T.},
  title = {Manipulability of robotic mechanisms},
  journal = {International Journal of Robotics Research},
  year = {1985},
  volume = {4},
  pages = {3-9},
  owner = {Mihail},
  timestamp = {2010.03.04}
}

@INPROCEEDINGS{Zhang2007a,
  author = {Zhang, Liangjun and Kim, Young J. and Manocha, Dinesh},
  title = {C-DIST: efficient distance computation for rigid and articulated
	models in configuration space},
  booktitle = {SPM '07: Proceedings of the 2007 ACM symposium on Solid and physical
	modeling},
  year = {2007},
  pages = {159--169},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {The problem of distance computation arises in many applications including
	motion planning, CAD/CAM, dynamic simulation and virtual environments.
	Most prior work in this area has been restricted to separation or
	penetration distance computation between two objects. In this paper,
	we address the problem of computing a measure of distance between
	two configurations of a rigid or articulated model. The underlying
	distance metric is defined as the length of the longest displacement
	vector over the corresponding vertices of the model between two configurations.
	Our algorithm is based on Chasles theorem in Screw theory, and we
	show that the maximum distance can be realized only by a vertex of
	the convex hull of a rigid object. We use this formulation to compute
	the distance, and present two acceleration techniques to speed up
	the computation: incremental walking on the dual space of the convex
	hull and culling vertices on the convex hull using a bounding volume
	hierarchy (BVH). Our algorithm can be easily extended to articulated
	models by maximizing the distance over its each link and we also
	present culling techniques to accelerate the computation. We highlight
	the performance of our algorithm on many complex models and describe
	its application to proximity queries and motion planning.},
  doi = {http://doi.acm.org/10.1145/1236246.1236270},
  isbn = {978-1-59593-666-0},
  location = {Beijing, China},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@ARTICLE{Zhang2007,
  author = {Zhang, Liangjun and Kim, Young J. and Varadhan, Gokul and Manocha,
	Dinesh},
  title = {Generalized penetration depth computation},
  journal = {Comput. Aided Des.},
  year = {2007},
  volume = {39},
  pages = {625--638},
  number = {8},
  abstract = {Penetration depth (PD) is a distance measure that is used to describe
	the extent of overlap between two intersecting objects. Most of the
	prior work in PD computation has been restricted to translationalPD,
	which is defined as the minimal translational motion that one of
	the overlapping objects must undergo in order to make the two objects
	disjoint. In this paper, we extend the notion of PD to take into
	account both translational and rotational motion to separate the
	intersecting objects, namely generalizedPD. When an object undergoes
	a rigid transformation, some point on the object traces the longest
	trajectory. The generalized PD between two overlapping objects is
	defined as the minimum of the longest trajectories of one object,
	under all possible rigid transformations to separate the overlapping
	objects. We present three new results to compute generalized PD between
	polyhedral models. First, we show that for two overlapping convex
	polytopes, the generalized PD is the same as the translational PD.
	Second, when the complement of one of the objects is convex, we pose
	the generalized PD computation as a variant of the convex containment
	problem and compute an upper bound using optimization techniques.
	Finally, when both of the objects are non-convex, we treat them as
	a combination of the above two cases and present an algorithm that
	computes a lower and an upper bound on the generalized PD. We highlight
	the performance of our algorithms on different models that undergo
	rigid motion in the 6-dimensional configuration space. Moreover,
	we utilize our algorithm for complete motion planning of rigid robots
	undergoing translational and rotational motion in a plane or in 3D
	space. In particular, we use generalized PD computation for performing
	C-obstacle query and checking path non-existence.},
  address = {Newton, MA, USA},
  doi = {http://dx.doi.org/10.1016/j.cad.2007.05.012},
  issn = {0010-4485},
  owner = {Mihail},
  publisher = {Butterworth-Heinemann},
  timestamp = {2010.07.05}
}

@INPROCEEDINGS{Zhang2006,
  author = {Zhang, Liangjun and Kim, Young J. and Varadhan, Gokul and Manocha,
	Dinesh},
  title = {Generalized penetration depth computation},
  booktitle = {SPM '06: Proceedings of the 2006 ACM symposium on Solid and physical
	modeling},
  year = {2006},
  pages = {173--184},
  address = {New York, NY, USA},
  publisher = {ACM},
  abstract = {Penetration depth (PD) is a distance metric that is used to describe
	the extent of overlap between two intersecting objects. Most of the
	prior work in PD computation has been restricted to translational
	PD, which is defined as the minimal translational motion that one
	of the overlapping objects must undergo in order to make the two
	objects disjoint. In this paper, we extend the notion of PD to take
	into account both translational and rotational motion to separate
	the intersecting objects, namely generalized PD. When an object undergoes
	rigid transformation, some point on the object traces the longest
	trajectory. The generalized PD between two overlapping objects is
	defined as the minimum of the longest trajectories of one object
	under all possible rigid transformations to separate the overlapping
	objects.We present three new results to compute generalized PD between
	polyhedral models. First, we show that for two overlapping convex
	polytopes, the generalized PD is same as the translational PD. Second,
	when the complement of one of the objects is convex, we pose the
	generalized PD computation as a variant of the convex containment
	problem and compute an upper bound using optimization techniques.
	Finally, when both the objects are non-convex, we treat them as a
	combination of the above two cases, and present an algorithm that
	computes a lower and an upper bound on generalized PD. We highlight
	the performance of our algorithms on different models that undergo
	rigid motion in the 6-dimensional configuration space. Moreover,
	we utilize our algorithm for complete motion planning of polygonal
	robots undergoing translational and rotational motion in a plane.
	In particular, we use generalized PD computation for checking path
	non-existence.},
  doi = {http://doi.acm.org/10.1145/1128888.1128914},
  isbn = {1-59593-358-1},
  location = {Cardiff, Wales, United Kingdom},
  owner = {Mihail},
  timestamp = {2010.07.05}
}

@ARTICLE{Zhang00,
  author = {Wei Zhang and Thomas G. Dietterich},
  title = {Solving Combinatorial Optimization Tasks by Reinforcement Learning:
	A General Methodology Applied to Resource-Constrained Scheduling},
  journal = jair,
  year = {2000},
  volume = {1},
  pages = {1--38},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@PHDTHESIS{Zhou98,
  author = {Y. Zhou},
  title = {Adaptive Importance Sampling for Integration},
  school = {Stanford University},
  year = {1998},
  address = {Palo Alto, CA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@MISC{ZloBar00,
  author = {M. Zlochin and Y. Baram},
  title = {The bias-variance dilemma of the {M}onte {C}arlo method},
  howpublished = {http://iridia.ulb.ac.be/\~{}mzlochin},
  year = {2000},
  note = {unpublished},
  __markedentry = {[mihail]},
  optjournal = {#mlj#},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@INPROCEEDINGS{Zlot2005,
  author = {Zlot, R. and Stentz, A.},
  title = {Complex Task Allocation For Multiple Robots},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	2005},
  year = {2005},
  pages = {1515--1522},
  month = apr # { 18--22,},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@INPROCEEDINGS{Zlot2002,
  author = {Zlot, R. and Stentz, A. and Dias, M. B. and Thayer, S. },
  title = {Multi-robot exploration controlled by a market economy},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA
	'02},
  year = {2002},
  volume = {3},
  pages = {3016--3023},
  month = may # { 11--15,},
  doi = {10.1109/ROBOT.2002.1013690},
  owner = {Mihail},
  timestamp = {2010.01.16}
}

@BOOK{Bower01,
  title = {Computational Modeling of Genetic and Biochemical Networks},
  publisher = {The {MIT} Press},
  year = {2001},
  editor = {James Bower and Hamid Bolouri},
  address = {Cambridge, MA},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Meyer2003,
  title = {Algorithms for memory hierarchies: advanced lectures},
  publisher = {Springer-Verlag},
  year = {2003},
  editor = {Meyer, Ulrich and Sanders, Peter and Sibeyn, Jop},
  address = {Berlin, Heidelberg},
  isbn = {3-540-00883-7},
  owner = {Mihail},
  timestamp = {2010.06.29}
}

@INBOOK{PeshkinRANLP,
  title = {{R}ecent {A}dvances in {N}atural {L}anguage {P}rocessing {III}},
  publisher = {John Benjamins},
  year = {2004},
  editor = {Nicolas Nicolov and Kalina Botcheva and Galia Angelova and Ruslan
	Mitkov},
  series = {Current Issues in Linguistic Theory (CILT)},
  address = {Amsterdam/Philadelphia},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{OED,
  title = {Oxford {English} Dictionary},
  publisher = {Oxford University Press},
  year = {1989},
  editor = {John Simpson and Edmund Weiner},
  address = {Oxford, UK},
  edition = {Second},
  __markedentry = {[mihail]},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@ARTICLE{2010,
  title = {Comment on ``Efficient approaches for designing reversible Binary
	Coded Decimal adders''},
  journal = {Microelectron. J.},
  year = {2010},
  volume = {41},
  pages = {308--310},
  number = {5},
  address = {Amsterdam, The Netherlands, The Netherlands},
  doi = {http://dx.doi.org/10.1016/j.mejo.2010.03.007},
  issn = {0026-2692},
  owner = {Mihail},
  publisher = {Elsevier Science Publishers B. V.},
  timestamp = {2010.07.05}
}

@MISC{TAC,
  title = {{TAC} - The 2001 Trading Agent Compeitition},
  howpublished = {ACM Conference on Electronic Commerce},
  month = {10},
  year = {2001},
  note = {http://tac.eecs.umich.edu/},
  __markedentry = {[mihail]},
  key = {TAC},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@MISC{Ubique,
  title = {http://www.ubique.com/},
  year = {1995},
  note = {Virtual Places},
  __markedentry = {[mihail]},
  key = {Ubique},
  owner = {mihail},
  timestamp = {2011.03.21}
}

@BOOK{Casella,
  title = {Statistical Inference},
  publisher = {Duxbury Press},
  year = {1990},
  __markedentry = {[mihail]},
  altauthor = {Casella, George and Berger, Roger L.},
  owner = {mihail},
  timestamp = {2011.03.21}
}

